Flight data for a conventional fixed wing and delta -wing drone applied to model-based navigation

<p>The following two bags permit the testing of the vehicle dynamic model-based navigation real-time software VDMc available <a href="https://gitlab.epfl.ch/laupre/vdm_c">here</a>.&nbsp;</p> <p><strong>TOPOPlane2_20221027_STIM14.bag</strong></p> <p>Data are saved in a <em>rosbag </em>while flying with the TOPOPlane2 drone on October 2nd, 2022. The <em>_tagged </em>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:</p> <ul> <li>/GIINAV_POSE - solution of the INS/GNSS software (ros msg type: <a href="https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html">nav_msgs/Odometry</a>)</li> <li>/GPS0 - binary output of the GNSS receiver. &nbsp;These data need to be parsed with the function <em>GNSSReceiver::gpsCallBack</em> in <a href="https://gitlab.epfl.ch/laupre/vdm_c/-/blob/Topoplane2/src/TP2/gnssreceiver.cpp?ref_type=heads">gnssreceiver.cpp</a> (ros msg type: <a href="https://docs.ros.org/en/melodic/api/std_msgs/html/msg/UInt8MultiArray.html">std_msgs/Uint8MultiArray</a>)</li> <li>/IMU0 - binary output of the IMU sensor. These data need to be parsed with the function <em>IMUReceiver::imuCallback</em> in <a href="https://gitlab.epfl.ch/laupre/vdm_c/-/blob/Topoplane2/src/TP2/imureceiver.cpp?ref_type=heads">imureceiver.cpp </a>(ros msg type: <a href="https://docs.ros.org/en/melodic/api/std_msgs/html/msg/UInt8MultiArray.html">std_msgs/Uint8MultiArray</a>)</li> <li>/airData - data from the surrey PitotTube and processed (custom ros msg&nbsp;type: surrey_sensor/AirData, available in <a href="https://gitlab.epfl.ch/laupre/vdm_c/-/blob/Topoplane2/include/AirData.h?ref_type=heads">AirData.h</a>) <ul> <li>GNSS time [s]</li> <li>airSpeed [m/s]</li> <li>baroAltitude [m]</li> <li>density [hPa]</li> </ul> </li> <li>/airpressure_tagged - dynamic air pressure of the PitotTube (Pa) (ros msg&nbsp;type: <a href="https://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/FluidPressure.html">sensor_msgs/FluidPressure</a> )&nbsp;</li> <li>/airspeed_tagged - transformed airspeed [m/s] and groundspeed [m/s] from Pitotube (ros msg type: <a href="https://docs.ros.org/en/noetic/api/mavros_msgs/html/msg/VFR_HUD.html">mavros_msgs/VFR_HUD</a>)</li> <li>/cc_tagged - control commands tagged with GNSS time (ros msg&nbsp;type: <a href="https://docs.ros.org/en/noetic/api/mavros_msgs/html/msg/RCOut.html">mavros_msgs/RCout</a>) <ul> <li>header, channels (autopilot value from 1000 to 2000). The conversion is done in the function CCReceiver::ccCallback in <a href="https://gitlab.epfl.ch/laupre/vdm_c/-/blob/Topoplane2/src/TP2/ccreceiver.cpp?ref_type=heads">ccreceiver.cpp</a> [aileron elevator rpm rudder]</li> </ul> </li> <li>/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&nbsp;type: <a href="https://docs.ros.org/en/noetic/api/mavros_msgs/html/msg/DebugValue.html">mavros_msgs/DebugValue</a>)</li> <li>/mavros/debug_value/named_value_float - Topic used to trigger the real-time simulated GNSS outage from the GCS (ros msg&nbsp;type: <a href="https://docs.ros.org/en/noetic/api/mavros_msgs/html/msg/DebugValue.html">mavros_msgs/DebugValue</a>)&nbsp;</li> <li>/mavros/debug_value/send - not used</li> <li>/mavros/imu/diff_pressure (ros msg&nbsp;type: <a href="https://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/FluidPressure.html">sensor_msgs/FluidPressure</a>)</li> <li>/mavros/imu/static_pressure (ros msg&nbsp;type: <a href="https://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/FluidPressure.html">sensor_msgs/FluidPressure</a>)</li> <li>/mavros/rc/out - control commands tagged with autopilot (system) time (ros msg&nbsp;type: <a href="https://docs.ros.org/en/noetic/api/mavros_msgs/html/msg/RCOut.html">mavros_msgs/RCout</a>)</li> <li>/mavros/wind_estimation - autopilot estimation of the wind (ros msg&nbsp;type: <a href="https://docs.ros.org/en/melodic/api/geometry_msgs/html/msg/TwistWithCovarianceStamped.html">geometry_msgs/TwistWithCovarianceStamped</a>)</li> <li>/surrey - raw data from the surrey PitotTube (custom ros msg&nbsp;type: surrey_sensor/Surrey, available in <a href="https://gitlab.epfl.ch/laupre/vdm_c/-/blob/Topoplane2/include/Surrey.h?ref_type=heads">Surrey.h</a>)</li> <li>/timeSync - mapping from autopilot time and GNSS time to tag the data autopilot data (*<em>_tagged</em>) with GNSS time (ros msg&nbsp;type: <a href="https://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float32MultiArray.html">std_msgs/Float32MultiArray</a>)</li> </ul> <p><strong>concordeS_20230601.bag</strong></p> <p>These data are generated in a <em>formatted </em>version using the recorded flight with the ConcordeS1 drone on June 1st, 2023. The bag contains the following topics:</p> <ul> <li>/airData - data from the PitotTube (custom ros msg&nbsp;types: surrey_sensor/AirData, available from <a href="https://gitlab.epfl.ch/laupre/vdm_c/-/blob/Topoplane2/include/AirData.h?ref_type=heads">AirData.h</a>) <ul> <li>GNSS time [s]</li> <li>airSpeed [m/s]</li> <li>baroAltitude [m]</li> <li>density [hPa]</li> </ul> </li> <li>/cc_formatted - control commands (ros msg&nbsp;type: <a href="https://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float64MultiArray.html">std_msgs/Float64MultiArray</a>) <ul> <li>data :[GNSS time [s], rpm [normalized value from autopilot channel 0-1000], LeftDeflection [degree], RightDeflection [degree]]</li> </ul> </li> <li>/giinav_formatted - INS/GNSS solution, used to initialize the in-flight VDM-based navigation filter (ros msg&nbsp;type: <a href="https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html">nav_msgs/Odometry</a>) <ul> <li>pose: <ul> <li>position (WGS84) [x(lat) [rad], y(long) [rad], z(alt) [m]]</li> <li>orientation (NED) [x y z w] &nbsp;in quaternion</li> </ul> </li> <li>twist: <ul> <li>linear (NED) [x [m/s], y [m/s], z [m/s]]</li> <li>angular (body) [x [degree/s], y [degree/s], z [degree/s]]</li> </ul> </li> </ul> </li> <li>/gnss_formatted - GNSS position and velocity (ros msg&nbsp;type: <a href="https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html">nav_msgs/Odometry</a>) <ul> <li>pose: <ul> <li>position (WGS84) [x(lat) [rad], y(long) [rad], z(alt) [m]]</li> <li>orientation - null</li> </ul> </li> <li>twist: <ul> <li>linear (NED) [x [m/s], y [m/s], z [m/s]]</li> <li>angular - null</li> </ul> </li> </ul> </li> <li>/imu_formatted - a triplet of accelerometer and gyroscope (ros msg&nbsp;type: <a href="https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Imu.html">sensors_msgs/IMU</a>) <ul> <li>header</li> <li>orientation (NED) (quaternion) [x y z w]</li> <li>orientation_covariance</li> <li>angular_velocity (body) [degree/s] [x y z]</li> <li>angular_velocity_covariance</li> <li>linear_acceleration (body) [m/s2] [x y z]</li> <li>linear_<em>acceleration</em>_covariance</li> </ul> </li> <li>/toggleOnOffGnss - Simulate the activation of the GNSS outage for testing purposes (ros msg&nbsp;type: <a href="https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html">std_msgs/Bool</a>)</li> </ul> <p>In addition, there is a complete example of VDMc with TOPOPLANE2 in the <strong>TOPOPlane2_20220826_STIM13.zip</strong> file. It contains</p> <ul> <li>The VDMc code in the vdm_c folder that you can run</li> <li>The input data: TP2_20220825_outage382606_120sbaro.bag, which contains the rosbag from the STIM13 flight, performed on August 25th, 2022</li> <li>The compilation and execution of the code is explained at : https://gitlab.epfl.ch/laupre/vdm_c/-/wikis/Installation</li> </ul>