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).本数据集源自Crazyflie四旋翼飞行器的机载日志采集，关联论文为Stroobants、Stein、Christophe de Wagter与Guido CHE De Croon于2024年发表的《Neuromorphic Attitude Estimation and Control》（待该论文的RA-L期刊发表链接上线后，将修正参考文献信息）。该数据集包含训练所需的输入数据与对应标签，可根据训练需求灵活选用。数据集以500Hz的采样频率记录至SD卡，包含以下字段：timestamp（毫秒级时间戳）、gyro.x、gyro.y、gyro.z（三轴陀螺仪输出数据）、acc.x、acc.y、acc.z（三轴加速度计输出数据）、controller.actuatorThrust（执行器推力指令）、controller.pitch、controller.roll、controller.yaw（姿态控制指令）、pid_attitude.pitch_output、pid_attitude.roll_output、pid_attitude.yaw_output（姿态PID控制器的比例输出值）、pid_attitude.pitch_outI、pid_attitude.roll_outI、pid_attitude.yaw_outI（姿态PID控制器的积分输出值）、pid_rate.pitch_output、pid_rate.roll_output、pid_rate.yaw_output（角速度PID控制器的比例输出值）、pid_rate.pitch_outI、pid_rate.roll_outI、pid_rate.yaw_outI（角速度PID控制器的积分输出值）、stateEstimate.pitch、stateEstimate.roll、stateEstimate.yaw（姿态状态估计值）、snn_control.torque_pitch、snn_control.torque_roll（与PID控制器并行运行的脉冲神经网络（Spiking Neural Network, SNN）生成的俯仰、滚转力矩指令，仅作参考使用）。