Adaptive Nonlinear Control For Perching of a Bioinspired Ornithopter

This dataset contains the flight data recorded by the onboard flight computer for perching experiments. During the experiments nonlinear guidance and control laws are used for trajectory tracking. The filght computer is designed around the NanoPi Neo Air. A custom made PCB attached to the NanoPi, and acts as a carrier for an STM32 microcontroller. The microcontroller regulates the servos via a PWM signal. At the same time, the flight computer connects with an Optitrack motion capture system. The Optitrack emits data at 120 Hz to a local network using a VRPN protocol. This data is recorded by the flight computer, used for state estimation, and the control is executed at 100 Hz.