https://github.com/Microsoft/AirSim/commit/c6fd9de5d75dd0d57383d2b198f35d03212c26ab#diff-be9baf924640e7349381d28923d3a20a02d246b8378471ff1badf01357f16a7b
https://zhuanlan.zhihu.com/p/673660185
