DOI: 10.5281/zenodo.10337559
title: Flight data for a conventional fixed wing and delta -wing drone applied to model-based navigation

description: The following two bags permit the testing of the vehicle dynamic model-based navigation real-time software VDMc available here. 
TOPOPlane2_20221027_STIM14.bag
Data are saved in a rosbag while flying with the TOPOPlane2 drone on October 2nd, 2022. The _tagged suffix name means that the data come from the autopilot and the time is GNSS time-tagged with an internal routine. The bag contains the following topics:

/GIINAV_POSE - solution of the INS/GNSS software (ros msg type: nav_msgs/Odometry)
/GPS0 - binary output of the GNSS receiver.  These data need to be parsed with the function GNSSReceiver::gpsCallBack in gnssreceiver.cpp (ros msg type: std_msgs/Uint8MultiArray)
/IMU0 - binary output of the IMU sensor. These data need to be parsed with the function IMUReceiver::imuCallback in imureceiver.cpp (ros msg type: std_msgs/Uint8MultiArray)
/airData - data from the surrey PitotTube and processed (custom ros msg type: surrey_sensor/AirData, available in AirData.h)

GNSS time [s]
airSpeed [m/s]
baroAltitude [m]
density [hPa]
/airpressure_tagged - dynamic air pressure of the PitotTube (Pa) (ros msg type: sensor_msgs/FluidPressure ) 
/airspeed_tagged - transformed airspeed [m/s] and groundspeed [m/s] from Pitotube (ros msg type: mavros_msgs/VFR_HUD)
/cc_tagged - control commands tagged with GNSS time (ros msg type: mavros_msgs/RCout)

header, channels (autopilot value from 1000 to 2000). The conversion is done in the function CCReceiver::ccCallback in ccreceiver.cpp [aileron elevator rpm rudder]
/mavros/debug_value/debug_vector - This custom vector is used to exchange data from/to the Ground Control Station (GCS). It contains the solution of the INS/GNSS (Giinav) and VDMNav (ros msg type: mavros_msgs/DebugValue)
/mavros/debug_value/named_value_float - Topic used to trigger the real-time simulated GNSS outage from the GCS (ros msg type: mavros_msgs/DebugValue) 
/mavros/debug_value/send - not used
/mavros/imu/diff_pressure (ros msg type: sensor_msgs/FluidPressure)
/mavros/imu/static_pressure (ros msg type: sensor_msgs/FluidPressure)
/mavros/rc/out - control commands tagged with autopilot (system) time (ros msg type: mavros_msgs/RCout)
/mavros/wind_estimation - autopilot estimation of the wind (ros msg type: geometry_msgs/TwistWithCovarianceStamped)
/surrey - raw data from the surrey PitotTube (custom ros msg type: surrey_sensor/Surrey, available in Surrey.h)
/timeSync - mapping from autopilot time and GNSS time to tag the data autopilot data (*_tagged) with GNSS time (ros msg type: std_msgs/Float32MultiArray)
concordeS_20230601.bag
These data are generated in a formatted version using the recorded flight with the ConcordeS1 drone on June 1st, 2023. The bag contains the following topics:

/airData - data from the PitotTube (custom ros msg types: surrey_sensor/AirData, available from AirData.h)

GNSS time [s]
airSpeed [m/s]
baroAltitude [m]
density [hPa]
/cc_formatted - control commands (ros msg type: std_msgs/Float64MultiArray)

data :[GNSS time [s], rpm [normalized value from autopilot channel 0-1000], LeftDeflection [degree], RightDeflection [degree]]
/giinav_formatted - INS/GNSS solution, used to initialize the in-flight VDM-based navigation filter (ros msg type: nav_msgs/Odometry)

pose:

position (WGS84) [x(lat) [rad], y(long) [rad], z(alt) [m]]
orientation (NED) [x y z w]  in quaternion
twist:

linear (NED) [x [m/s], y [m/s], z [m/s]]
angular (body) [x [degree/s], y [degree/s], z [degree/s]]
/gnss_formatted - GNSS position and velocity (ros msg type: nav_msgs/Odometry)

pose:

position (WGS84) [x(lat) [rad], y(long) [rad], z(alt) [m]]
orientation - null
twist:

linear (NED) [x [m/s], y [m/s], z [m/s]]
angular - null
/imu_formatted - a triplet of accelerometer and gyroscope (ros msg type: sensors_msgs/IMU)

header
orientation (NED) (quaternion) [x y z w]
orientation_covariance
angular_velocity (body) [degree/s] [x y z]
angular_velocity_covariance
linear_acceleration (body) [m/s2] [x y z]
linear_acceleration_covariance
/toggleOnOffGnss - Simulate the activation of the GNSS outage for testing purposes (ros msg type: std_msgs/Bool)