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

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)