Anonymized Code and Dataset for RAPIDGUARD

Dataset for the paper "Surviving the Noise: Fast and Persistent Recovery from Signal Injection Attacks on Robotic Vehicles" submitted to ACSAC'26. This repository contains Ardupilot code, experiment videos, and evaluation data. videos.zip: Videos of recovery experiments. logs.zip: Log files of all the experiments and case studies (SITL and real-world). ardupilot.zip: Prebuilt code of ArduPilot with RapidGuard implemented (ArduCopter v4.5.0). Using RapidGuard: Rapidguard is implemented in the Ardupilot code provided above. The attack detection and recovery thresholds are set in ArduCopter/SensorDelta.h. Lines 1 - 7 can be used to modify the time window and threshold for each axis individually. The threshold values for the accelerometer is in 'm/s/s' and the gyroscope is in 'rads/s'. Code is ready to be compiled into the firmware of choice. Logs Logs are in .BIN file format and can be analyzed with industry standard tools like: Mission Planner (https://ardupilot.org/planner/docs/mission-planner-overview.html). UAV Log Viewer (https://plot.ardupilot.org/).