AtlantikSolar 81-hour solar-powered flight dataset
for the JFR 2016 publication:
P. Oettershagen, A. Melzer, T. Mantel, K. Rudin, T. Stastny, B. Wawrzacz, T. Hinzmann, S. Leutenegger, K. Alexis, R. Siegwart, “Design of small hand-launched solar-powered UAVs: From concept study to a multi-day world endurance record flight”, Journal of Field Robotics (JFR), 2016.
General
This is the dataset recorded from July 14th - 17th 2015 during AtlantikSolar's continuous solar-powered flight of 81-hours total duration. More details on the flight can be found in the JFR publication and at http://www.atlantiksolar.ethz.ch/?p=670.
Dataset Information
| Overall information: | |
| Firmware | Custom Pixhawk firmware. Based on git commit #97a1410 (Nov 12th 2014) from https://github.com/PX4/Firmware. |
| Log Application | sdlog2 |
| Log length | 645435 data entries (296074 seconds) |
| Rate | ~2Hz |
| Value names | See section below |
Pixhawk log-time to local-time conversion:
| Event | PX4 Log time [s] | Local time (approximate) |
| Log start | 981s | 09:08 (July 14th) |
| Launch | 2449s | 09:32 (July 14th) |
| Landing | 295626s | 18:56 (July 17th) |
| Log end | 297055s | 19:20 (July 17th) |
Datafield description
The datafields are generated by a Pixhawk firmware that was extended in the context of this JFR publication. As a result, the majority of the datafields are standard Pixhawk sdlog2 datafields. Please refer to the respective documentation, e.g. at https://pixhawk.org/firmware/apps/sdlog2#csvmatlabconverting_logs_to_csv, for more information about these standard fields. Note: Should it happen that the sdlog2 datafield format was changed (through a firmware change), then please refer to the respective documentation or code for the git-commit that this dataset was generated with (given in the "Dataset Information" section).
The datafields that are custom to our specific firmware are given in groups below. They are mainly centered around our custom-designed flight controllers (called ASLCTRL) and sensors. Only the variables that are relevant for common flight analysis tasks will be described here, the internally logged values of the flight controller will not be explained. The exact configuration and tuning parameters (i.e. group ASAS_ for the SAS tuning, ACAS_ for the CAS tuning, AHL1_ & AHL2_ for the guidance logic tuning, ...) and state estimator internal variables (group EKFS_ and EKFV_) will also not be explained in detail. If you need information on such internals, feel free to contact the authors directly.
Note that curled braces "{}" are used to represent multiple sensors.
| Flight Controller Important Configuration Parameters | ||
| AHL1_v_N | [m/s] | Nominal airspeed |
| AHL1_v_Mi | [m/s] | Minimum airspeed |
| AHL1_v_Ma | [m/s] | Maximum airspeed |
| AHL1_hMa | [m] | Maximum allowed altitude AMSL |
| AHL1_hMi | [m] | Minimum allowed altitude AMSL |
| AHL2_plmi | [deg] | Minimum pitch angle reference allowed in guidance logic |
| AHL2_plma | [deg] | Maximum pitch angle reference allowed in guidance logic |
| AHL2_thrmi | [] | Minimum throttle allowed |
| AHL2_thrma | [] | Maximum throttle allowed |
| AHL2_thrc | [] | Cruise throttle |
| Flight Controller Data | ||
| ASLD_dt | [us] | Time since last execution of controller |
| ASLD_mode | [-] | Control mode (0=Manual, 1=SAS, 2=CAS, 5=AUTO) |
| ASLD_h | [m] | Altitude AMSL |
| ASLD_hR | [m] | Altitude reference AMSL |
| ASLD_hR_t | [m] | Time-smoothed altitude reference AMSL |
| ASLD_P | [rad] | Pitch angle |
| ASLD_PR | [rad] | Pitch angle reference |
| ASLD_PR_CT | [rad] | Pitch reference including corrections for coordinated turns |
| ASLD_q | [rad/s] | Body q-rate |
| ASLD_qR | [rad/s] | Body q-rate reference |
| ASLD_uE | [-] | Elevator command (output) |
| ASLD_uT | [-] | Throttle command (output) |
| ASLD_uT2 | [-] | Throttle #2 command (output) |
| ASLD_TAS_R | [m/s] | Airspeed reference |
| ASLD_bSpoil | [-] | Spoilers engaged by autopilot (0=no, 1=yes) ? |
| ASLD_Y | [rad] | Yaw Angle |
| ASLD_YR | [rad] | Yaw Angle reference |
| ASLD_R | [rad] | Roll angle |
| ASLD_RR | [rad] | Roll angle reference |
| ASLD_p | [rad/s] | Body p-rate |
| ASLD_pR | [rad/s] | Body p-rate reference |
| ASLD_r | [rad/s] | Body r-rate |
| ASLD_rR | [rad/s] | Body r-rate reference |
| ASLD_uA | [-] | Aileron command (output) |
| ASLD_uR | [-] | Rudder command (output) |
| Maximum Power Point Tracker Data | ||
| MPPT_t | [us] | MPPT timestamp |
| MPPT_Cur{X} | [A] | MPPT {X} input current |
| MPPT_Volt{X} | [V] | MPPT {X} input voltage |
| MPPT_PWM{X} | [-] | MPPT {X} modulation (PWM) state |
| MPPT_Stat{X} | [-] | MPPT {X} system state |
| Power Sensor Data | ||
| POWS_t | [us] | Power sensor timestamp |
| POWS_Main_Volt | [V] | Main system voltage |
| POWS_Main_Cur | [A] | Main system current (total current) |
| POWS_Cur1 | [A] | Auxiliary current sensor 1 |
| POWS_Cur2 | [A] | Auxiliary current sensor 2 |
| Battery Monitoring System Data | ||
| BAT{X}_t | [us] | Battery monitor {X} timestamp |
| BAT{X}_Temp | [1/10*K] | Battery monitor {X} temperature |
| BAT{X}_V_bat | [mV] | Battery monitor {X} voltage |
| BAT{X}_I_bat | [mA] | Battery monitor {X} current |
| BAT{X}_SoC | [%] | Battery monitor {X} state of charge |
| BAT{X}_status | [-] | Battery monitor {X} status |
| BAT{X}_SN | [-] | Battery monitor {X} Serial Number |
| BAT{X}_hostfetctrl | [-] | Battery monitor {X} FET status |
| BAT{X}_V_{Y} | [mV] | Battery monitor {X} cell voltage {Y} |
| Atmospheric sensor data | ||
| ATMO_ambTemp | [°C] | Atmospheric / Ambient Temperature |
Download
Click here to download a zip-file containing the dataset (Matlab-readable .mat-file).
Further information
In case of questions, please contact the authors at philipp[dot]oettershagen[at]mavt.ethz.ch
