Angular Momentum Conservation for Changing Multirotor Rotor Speeds

[alspitz]

As far as I know, AirSim does not model rotor inertia and how it affects body z angular velocity as the rotor speeds change. This may have a significant impact on a multirotor with large rotors relative to its size.

Are there plans to add this to increase the fidelity of the AirSim simulation? It would require modeling or specifying the inertia of the rotors. The rate of change of the rotor speeds can be simulated using the low pass filter applied on the rotor speeds currently.