Airsim Settings¶
Airsim settings are stored in a json file. The settings control many aspects of the simulation: - Number and type of vehicles - Sensors on each vehicle - Simulation speed - etc.
The most common settings are shown here. For full documentation on AirSim settings, visit the AirSim documentation.
Launching airsim with a settings file¶
To launch AirSim with a settings json file, specify it with the --settings flag. For example:
./CityBlocks.sh --settings ~/airsim_settings.json -windowed
(Note that some AirSim flags use single dashes, such as -windowed, and some use double dashes, such as --settings.)
If the provided settings file is invalid or missing, it AirSim will launch with default settings and ask whether you want a car simulation or multirotor simulation.
Common Settings¶
These are settings that you are likely to use at the MAGICC lab. For full documentation on AirSim settings, visit the AirSim documentation. There is a separate page for non-camera sensors. This is a wiki, please expand this page as you find information.
Simulator Settings¶
SettingsVersion¶
All settings file must have a "SettingsVersion" field. For now, use 1.2.
ClockSpeed¶
This allows you to slow down or speed up the simulation. This is particularly helpful if your computer is struggling with a complex simulation. This can increase the effective framerates of simulated cameras.
ViewMode¶
This sets how the main viewport camera moves around. There are a number of options listed in the AirSim documentation. SpringArmChase is a good default; it will follow the vehicle around. By setting ViewMode to "NoDisplay", the main display of AirSim is made blank. This is useful for saving computing resources once you have the simulation set up the way you need it.
Wind¶
Sets the wind for the simulation.
Recording¶
AirSim has some built-in recording tools, which record vehicle pose and images. They do not record sensors without modifying the source code and rebuilding, and so recording from ROS may be more practical.
Vehicle Settings¶
AirSim supports any number of vehicles, and they can be a mix of types. When there is only one vehicle it is used by default, and when there are multiple vehicles methods referencing them must specify the vehicle.
VehicleType¶
There are three options for multirotors: SimpleFlight, PX4Multirotor, and ArduCopter. SimpleFlight uses the built-in controller to fly the vehicle and has a number of different control options. The others work with their respective software.
This can also be set to ComputerVision, which disables all vehicle mechanics. The location of the "vehicle" can be set through the software API.
This can also be set to PhysXCar or Ardurover. These are cars, which are like drones that don't fly.
Cameras¶
See below.
X, Y, Z, Roll, Pitch, Yaw¶
This sets the initial location and attitude of the vehicle. The origin is also set to this location. The coordinate frame is note rotated by roll, pitch, or yaw.
Camera Settings¶
Note that in AirSim cameras are configured separately from other sensors. Each vehicle can have as many cameras as you want. Many of the important settings are under CaptureSettings.
CaptureSettings.ImageType¶
Airsim supports several types of cameras. Normal cameras are 0 or scene cameras. Other options include depth and IR cameras and segmentation view.
CaptureSettings.Width, CaptureSettings.Height¶
Size in pixels.
CaptureSettings.FOV_Degrees¶
This sets the horizontal field of view of the camera. The conversion between FOV and focal length is
. Note that you can't convert between horizontal and vertical FOV by dividing by the image aspect ratio (For example, to simulate a rotated camera). Instead convert to focal length and back.
Gimbal¶
The gimbal settings enable image stabilization in any or all axes.
X, Y, Z, Roll, Pitch, Yaw¶
These set the pose of the camera w.r.t. the vehicle. By default, the camera is at the center of the vehicle, facing forward. Through the magic of computer graphics, the vehicle is transparent from the inside, but parts of the vehicle (quadrotor landing gear) may be visible if you don't move the camera.
Sensor Settings¶
Multirotors come with an IMU by default. Adding an IMU manually allows you to specify noise settings. Available sensors are: barometer, IMU, GPS, magnetometer, distance sensor, and lidar.
IMU¶
Note that AirSim uses continuous noise and drift parameters for the IMU, rather than discrete noise parameters, and so you will have to convert.