Supported Virtual Robots

Currently Supported Robots

• Multirotor
• Car
• Omrover
• Heli

Common Units

Actuators

• pwm
  Integer representing microseconds. The range is 1100–2000 µs, which is a typical operation range of ESCs in real drones.

Sensors

• accelerometer
  Raw accelerometer values for x, y, and z axes.

  • 1g (9.81 m/s²) corresponds to 16384.
  • Conversion to m/s²:

    (accelerometer * 9.81) / 16384
    

• gyroscope
  250 deg/second corresponds to 32768.

  • Conversion to rad/s:

    (gyroscope * 250 / 32768) * (π / 180)
    

• magnetometer
  Values are measured in microtesla (µT).

States

• states.angVel — in radians per second (rad/s)
• states.euler — in degrees (°)
• states.linVel — in meters per second (m/s)
• states.linPos — in meters (m)