Abstract
This article describes the data acquired from multiple flights of a custom-built quadcopter. The Quadcopter was programmed to fly a pre-defined “Figure-8” flight path, at a constant altitude. The data set includes flights with a varying number of waypoints (10 and 15 waypoints in each lobe of the “Figure-8”) and at two different velocities (1.5 and 2.5 m/s). The data also contains information on the output of the flight controller in terms of the Pulse Width Modulation (PWM) signals to each of the four Electronic Speed Controllers (ESC) driving the motors, the recorded outputs of the Inertial Measurement Unit (linear accelerations ax, ay, az and angular velocities p, q, r), GPS data (Latitude, Longitude, altitude, Horizontal Dilution of Precision (HDOP) and Vertical Dilution of Precision (VDOP). The data are included as Supplemental Material.
Highlights
Unmanned Aircraft Regulations Part 107) [1] underscores the broad desire to use drone platforms in a variety of commercial applications including structural surveying [2], search and rescue [3,4], disaster recovery [5] and many others; while this is true, it leads to the question of reliability and performance of various flight controllers that are integral to their flight capabilities
The quadcopter featured a Commodity-Off-The-Shelf (COTS) Pixhawk flight controller, which served as the data acquisition and storage device
Facilitate performance evaluation of a widely used Commodity-Off-The-Shelf (COTS) flight controller, Pixhawk 1 [6], under different conditions (GPS coverage, flight velocities, waypoints etc.). This data can be used for comparing the performance of different flight controllers on multirotor drones and to design/simulate/evaluate flight control algorithms
Summary
Unmanned Aerial Systems (UAS) or drones have rapidly evolved and the number and type of their applications have proliferated. These are promising platforms for performing repetitive and often dangerous tasks, thanks to their versatility, low cost, and minimal risk. Facilitate performance evaluation of a widely used Commodity-Off-The-Shelf (COTS) flight controller, Pixhawk 1 [6], under different conditions (GPS coverage, flight velocities, waypoints etc.). This data can be used for comparing the performance of different flight controllers on multirotor drones and to design/simulate/evaluate flight control algorithms. This data could be used to evaluate the workload on COTS flight controllers, as well as in the design and implementation of resource-aware flight control algorithms
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