3g1l-vaktros/flight-20260227_103014

---
configs:
- config_name: train
data_files:
- split: train
path: "train/*.parquet"
- config_name: imu
data_files:
- split: train
path: "imu/*.parquet"
- config_name: baro
data_files:
- split: train
path: "baro/*.parquet"
- config_name: msp
data_files:
- split: train
path: "msp/*.parquet"
dataset_info:
- config_name: train
features:
- name: left_image
dtype: image
- name: right_image
dtype: image
- name: frame_id
dtype: int64
- name: t_frame_mono_ns
dtype: int64
- name: chunk_id
dtype: int32
- name: frame_idx_in_chunk
dtype: int32
- name: imu_gyro_x_rads
dtype: float32
- name: imu_gyro_y_rads
dtype: float32
- name: imu_gyro_z_rads
dtype: float32
- name: imu_accel_x_mps2
dtype: float32
- name: imu_accel_y_mps2
dtype: float32
- name: imu_accel_z_mps2
dtype: float32
- name: imu_mag_x_ut
dtype: float32
- name: imu_mag_y_ut
dtype: float32
- name: imu_mag_z_ut
dtype: float32
- name: baro_pressure_hpa
dtype: float32
- name: baro_temperature_c
dtype: float32
- name: baro_altitude_m
dtype: float32
- name: msp_roll_deg
dtype: float32
- name: msp_pitch_deg
dtype: float32
- name: msp_yaw_deg
dtype: float32
- name: msp_throttle
dtype: int16
- name: msp_armed
dtype: bool
- name: msp_sensor_flags
dtype: uint16
- name: msp_flight_mode_flags
dtype: uint32
- name: msp_arming_flags
dtype: uint16
- name: msp_motor_1
dtype: int16
- name: msp_motor_2
dtype: int16
- name: msp_motor_3
dtype: int16
- name: msp_motor_4
dtype: int16
- name: msp_motor_5
dtype: int16
- name: msp_motor_6
dtype: int16
- name: msp_motor_7
dtype: int16
- name: msp_motor_8
dtype: int16
- name: msp_battery_v
dtype: float32
- name: msp_current_a
dtype: float32
- name: msp_mah_drawn
dtype: int32
- name: msp_rssi_raw
dtype: int16
- name: msp_gps_fix
dtype: int8
- name: msp_gps_sats
dtype: int8
- name: msp_gps_lat_deg
dtype: float64
- name: msp_gps_lon_deg
dtype: float64
- name: msp_gps_alt_raw
dtype: uint16
- name: msp_gps_speed_raw
dtype: uint16
- name: msp_gps_cog_deg
dtype: float32
- name: msp_home_dist_m
dtype: float32
- name: msp_home_dir_deg
dtype: float32
- name: msp_baro_alt_m
dtype: float32
- name: msp_baro_vario_mps
dtype: float32
- name: msp_acc_x
dtype: int16
- name: msp_acc_y
dtype: int16
- name: msp_acc_z
dtype: int16
- name: msp_gyro_x
dtype: int16
- name: msp_gyro_y
dtype: int16
- name: msp_gyro_z
dtype: int16
- name: msp_mag_x_raw
dtype: int16
- name: msp_mag_y_raw
dtype: int16
- name: msp_mag_z_raw
dtype: int16
- name: imu_dt_ns
dtype: int64
- name: baro_dt_ns
dtype: int64
- name: msp_dt_ns
dtype: int64
- name: imu_interp
dtype: bool
- name: imu_ok
dtype: bool
- name: baro_ok
dtype: bool
- name: msp_ok
dtype: bool
- name: frame_dropped
dtype: bool
- name: encode_ok
dtype: bool
license: cc-by-4.0
tags:
- drone
- telemetry
- stereo-vision
- robotics
- imu
- gps
- betaflight
---

# Flight unknown

Drone telemetry dataset captured on a Raspberry Pi 5 with stereo camera, IMU, barometer, and Betaflight flight controller.

## Overview

| Property | Value |
|---|---|
| Duration | 10.0 minutes |
| Total frames | 12,803 |
| Video chunks | 21 |
| Camera | 1600x600 @ 120 fps |
| IMU | LSM6DSL + LIS3MDL @ 100 Hz |
| Barometer | BMP388 @ 25 Hz |
| MSP Telemetry | Betaflight @ 5 Hz (9 commands) |
| Platform | aarch64 / Python 3.13 |

## Configs

### `train` (default)
Each row is one video frame with stereo left/right JPEG images and all sensor data aligned to the frame timestamp.

**Images**: Stereo pair split from 1600x600 into two 800x600 images.

**Sensor alignment**:
- IMU: Linear interpolation between bracketing 100Hz samples (threshold: 10ms)
- Barometer: Nearest neighbor from 25Hz samples (threshold: 80ms)
- MSP: Nearest neighbor from ~5Hz polling (threshold: 250ms)

**Quality flags**: `imu_ok`, `baro_ok`, `msp_ok` indicate whether alignment was within threshold.

### `imu`
Raw Pi IMU data at 100Hz: gyroscope (rad/s), accelerometer (m/s^2), magnetometer (uT).

### `baro`
Raw Pi barometer data at 25Hz: pressure (hPa), temperature (C), altitude (m).

### `msp`
Raw Betaflight MSP telemetry at ~45Hz: attitude, GPS, battery, motors, RC channels.

## Calibration

```json
{}
```

## Usage

```python
from datasets import load_dataset

# Load aligned frame data (default config)
ds = load_dataset("3g1l-vaktros/flight-20260227_103014")

# Access a sample
sample = ds["train"][0]
left_img = sample["left_image"] # PIL Image 800x600
right_img = sample["right_image"] # PIL Image 800x600
roll = sample["msp_roll_deg"]
gyro_x = sample["imu_gyro_x_rads"]

# Load raw IMU data
imu = load_dataset("3g1l-vaktros/flight-20260227_103014", "imu")
```