Yes, we are supporting to get telemetry as well as ground truth. We also support multiple vehicles but you will need to then build your controller for them or set up multiple HITL/SITL flight controllers.
That's awesome! Can I shoot you an email for more information? I'm doing some research where we're trying to improve flight time with IMUs (GPS-denied environments) and AirSim looks like a great environment for us to get more data and train our algorithms!