Data
Eight flights, three airframes
Motion-capture records of a 63 g Sport Cub S2 flown in PURT, resampled to 60 Hz. Each flight will be released as a NumPy archive and as CSV, with the raw ROS 2 bags and the code; the downloads are not open yet.
Error: the raw rosbags are not available for download yet.
Error: the code and models are not available yet.
Flights
Error: the flight records are not available for download yet.
SAFE is the share of the flight flown with the receiver's attitude stabilisation on; only those samples are used. Tracked is the share with a valid motion-capture reconstruction.
What is in a record
| Array | Columns | Meaning |
|---|---|---|
time_s | 1 | Seconds from the first sample, at 60 Hz |
x | 13 | Position north-east-down, body velocity, attitude quaternion, body rates |
euler | 3 | Roll, pitch, yaw |
u_cmd | 4 | Pilot sticks: throttle, elevator, aileron, rudder |
flight_mode | 1 | 0 manual, 1 SAFE |
mocap_tracked | 1 | 1 where the motion-capture reconstruction is valid |
Units are metres, m/s, radians and rad/s. The CSV files hold the same columns.