Data underlying the publication: Neuromorphic Attitude Estimation and Control

Datasets obtained by onboard logging on Crazyflie quadrotor for:Stroobants, Stein, Christophe de Wagter, and Guido CHE De Croon. "Neuromorphic Attitude Estimation and Control." (2024).(<strong>FIX REF WHEN LINK TO RA-L PUBLICATION IS OUT)</strong><br>It contains both input data and corresponding labels, depending on what is desired during training.<br>Datasets were logged to SD card at 500Hz, and contain the following columns:<em>timestamp, gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z, controller.actuatorThrust, controller.pitch, controller.roll, controller.yaw, pid_attitude.pitch_output, pid_attitude.roll_output, pid_attitude.yaw_output, pid_attitude.pitch_outI, pid_attitude.roll_outI, pid_attitude.yaw_outI, pid_rate.pitch_output, pid_rate.roll_output, pid_rate.yaw_output, pid_rate.pitch_outI, pid_rate.roll_outI, pid_rate.yaw_outI, stateEstimate.pitch, stateEstimate.roll, stateEstimate.yaw, snn_control.torque_pitch, snn_control.torque_roll</em><br>these are the timestamp in millisecond, the output of gyro and accelero, the thrust command, the attitude commands, the rate commands, the torque commands, the attitude state estimates and the commands produced by the SNN that was running alongside the PID controller (for reference only).