UAVCAN Intrusion Dataset

This dataset contains UAVCAN (DroneCAN, UAVCAN v0) communication logs collected from unmanned aerial vehicles operating under both normal and attack conditions. A dedicated testbed was constructed using a Pixhawk 4 flight controller, Holybro Kotleta20 ESCs, a Raspberry Pi\u2013based CAN Shield interface, and UAVCAN-based motor control modules. Flooding, Fuzzy, and Replay attacks were conducted across 10 different scenarios, each lasting between 180 and 280 seconds.The logs include both normal and injected CAN frames, enabling the study of UAVCAN communication behavior under adversarial conditions. Detailed attack descriptions, frame structures, and data collection procedures are documented in the accompanying technical report.