aykutkabaoglu/uav-flight-anomaly-dataset

DATASET CARD for UAV-SEAD

Citation

BibTeX:

@article{kabaoglu2024uavsead,
  title={UAV-SEAD: State Estimation Anomaly Dataset for UAVs},
  author={Kabaoglu, Aykut and Sariel, Sanem},
  journal={arXiv preprint},
  year={2026}
}

DATASET INFORMATION

Dataset Description

UAV-SEAD (State Estimation Anomaly Dataset) is a comprehensive, large-scale, real-world flight dataset designed to advance research in Fault Detection and Identification (FDI) for Unmanned Aerial Vehicles. It contains 1,396 categorized real-world flight logs totaling over 52.4 hours of flight data. Unlike existing benchmarks, it avoids synthetic fault injection, providing naturally occurring anomalies across diverse environmental and hardware configurations.

• Curated by: Aykut Kabaoglu
• License: Creative Commons Attribution 4.0 International (CC BY 4.0)

Dataset Sources

• Paper: "UAV-SEAD: State Estimation Anomaly Dataset for UAVs"

Toolbox for Dataset Preprocessing and Annotation

• https://github.com/aykutkabaoglu/ulog_annotation_tool
• Use readme in the ulog_annotation_tool repository to start using dataset. The first step is converting raw flight logs into csv files. Then the flight logs can be used for plotting and labeling.

DATASET CREATION AND USAGE

Dataset Structure

The dataset is structured as a collection of multivariate time-series sequences.

• Point Anomalies: Spikes and outliers in sensor readings.
• Contextual Anomalies: Readings that are only anomalous relative to the flight state (e.g., zero altitude during thrust).
• Collective Anomalies: Sustained drifts or patterns indicating gradual system failure.

Use Cases

• Benchmarking multivariate time-series anomaly detection algorithms.
• Developing predictive maintenance and fault identification systems for quadrotors.

Data Collection and Processing

Data was harvested from a fleet of custom-built, PX4-based quadrotors.

• Hardware: Multiple airframes with variations in motor sizes, weights, and sensor suites. Check paper for hardware details.
• Environments: Flight missions conducted in indoor hangars, warehouses, and open outdoor spaces.

Annotation process

Annotation was performed via Physically-Constrained Expert Evaluation. Human experts identified state estimation divergences by comparing autopilot estimates with real-world observed outcomes. Labels were verified against physical flight dynamics to ensure the statistical anomalies correlate with actual physical events.

Bias, Risks, and Limitations of Data Collection

• Platform Specificity: Limited to multi-rotor dynamics (quadrotors). Limited outdoor flights with GPS availability.

DATASET STATISTICS

Annotated Data Flight Source Statistics

Annotated Number of Flight: 1396

Type	Time (hh:mm:ss)}
Total flight duration	52:20:05
External position data duration	51:28:34
Global position data duration	04:35:24
Distance sensor data duration	51:35:05
Barometer altitude data duration	26:23:45

Annotated Data Class Statistics

Class Labeling	# Flights	Total Flight Duration (hh:mm:ss)}	Anomaly Duration (hh:mm:ss)
Normal	900	38:24:19	--
Mechanical and Electrical	47	02:12:38	00:12:43
External Position	197	05:12:25	01:17:02
Global Position	41	01:40:42	00:36:23
Altitude	78	02:41:21	00:25:57
Uncategorized	141	03:13:09	--

RAW Data Statistics

Number of Flights: 3196

RAW Data, Data Fields

The dataset follows a Superset Schema of 1897 unique columns. Fields are grouped into 84 unique topics by PX4 UORB topic prefixes.

81 PX4 Topics out of 84 and their fields that has data at least a single flight log in the dataset are listed as below:

#	Topic (Superset)	# Active Subfields	Present in # Files	Subfields
1	action_request	3	5 (0.2%)	action, mode, source
2	actuator_armed	5	8 (0.3%)	armed, armed_time_ms, manual_lockdown, prearmed, ready_to_arm
3	actuator_controls_0	6	3196 (100.0%)	control[0], control[1], control[2], control[3], control[7], timestamp_sample
4	actuator_controls_3	4	5 (0.2%)	control[0], control[1], control[2], control[3]
5	actuator_outputs	9	3191 (99.8%)	noutputs, output[0], output[1], output[2], output[3], output[4], output[5], output[6], output[7]
6	battery_status	13	3196 (100.0%)	cell_count, connected, current_a, current_average_a, current_filtered_a, discharged_mah, id, remaining, scale, system_source, voltage_filtered_v, voltage_v, warning
7	camera_trigger	2	389 (12.2%)	seq, timestamp_utc
8	commander_state	2	8 (0.3%)	main_state, main_state_changes
9	cpuload	2	3196 (100.0%)	load, ram_usage
10	distance_sensor	9	3118 (97.6%)	current_distance, device_id, h_fov, id, max_distance, min_distance, orientation, signal_quality, v_fov
11	ekf2_innovations	29	3169 (99.2%)	flow_innov[0], flow_innov[1], flow_innov_var[0], flow_innov_var[1], hagl_innov, hagl_innov_var, heading_innov, heading_innov_var, mag_innov[0], mag_innov[1], mag_innov[2], mag_innov_var[0], mag_innov_var[1], mag_innov_var[2], output_tracking_error[0], output_tracking_error[1], output_tracking_error[2], vel_pos_innov[0], vel_pos_innov[1], vel_pos_innov[2], vel_pos_innov[3], vel_pos_innov[4], vel_pos_innov[5], vel_pos_innov_var[0], vel_pos_innov_var[1], vel_pos_innov_var[2], vel_pos_innov_var[3], vel_pos_innov_var[4], vel_pos_innov_var[5]
12	ekf2_timestamps	9	1098 (34.4%)	airspeed_timestamp_rel, distance_sensor_timestamp_rel, gps_timestamp_rel, optical_flow_timestamp_rel, vehicle_air_data_timestamp_rel, vehicle_magnetometer_timestamp_rel, vision_attitude_timestamp_rel, vision_position_timestamp_rel, visual_odometry_timestamp_rel
13	estimator_attitude	10	5 (0.2%)	delta_q_reset[0], delta_q_reset[1], delta_q_reset[2], delta_q_reset[3], q[0], q[1], q[2], q[3], quat_reset_counter, timestamp_sample
14	estimator_event_flags	7	5 (0.2%)	height_sensor_timeout, information_event_changes, reset_pos_to_vision, starting_vision_pos_fusion, starting_vision_yaw_fusion, timestamp_sample, warning_event_changes
15	estimator_innovation_test_ratios	13	8 (0.3%)	baro_vpos, ev_hpos[0], ev_hpos[1], ev_hvel[1], ev_vpos, flow[1], gps_hpos[0], gps_hpos[1], gps_hvel[1], hagl, hagl_rate, heading, timestamp_sample
16	estimator_innovation_variances	10	8 (0.3%)	baro_vpos, ev_hpos[0], ev_hpos[1], ev_vpos, gps_hpos[0], gps_hpos[1], hagl, hagl_rate, heading, timestamp_sample
17	estimator_innovations	10	8 (0.3%)	baro_vpos, ev_hpos[0], ev_hpos[1], ev_vpos, gps_hpos[0], gps_hpos[1], hagl, hagl_rate, heading, timestamp_sample
18	estimator_local_position	36	5 (0.2%)	ax, ay, az, delta_heading, delta_vxy[0], delta_vxy[1], delta_vz, delta_xy[0], delta_xy[1], delta_z, dist_bottom, dist_bottom_sensor_bitfield, dist_bottom_valid, eph, epv, evh, evv, heading, heading_good_for_control, heading_reset_counter, timestamp_sample, v_xy_valid, v_z_valid, vx, vxy_reset_counter, vy, vz, vz_reset_counter, x, xy_reset_counter, xy_valid, y, z, z_deriv, z_reset_counter, z_valid
19	estimator_selector_status	14	5 (0.2%)	accel_device_id, baro_device_id, combined_test_ratio[0], combined_test_ratio[1], gyro_device_id, healthy[0], healthy[1], instance_changed_count, instances_available, last_instance_change, mag_device_id, primary_instance, relative_test_ratio[0], relative_test_ratio[1]
20	estimator_sensor_bias	27	8 (0.3%)	accel_bias[0], accel_bias[1], accel_bias[2], accel_bias_limit, accel_bias_stable, accel_bias_valid, accel_bias_variance[0], accel_bias_variance[1], accel_bias_variance[2], accel_device_id, gyro_bias[0], gyro_bias[1], gyro_bias[2], gyro_bias_limit, gyro_bias_stable, gyro_bias_valid, gyro_bias_variance[0], gyro_bias_variance[1], gyro_bias_variance[2], gyro_device_id, mag_bias_limit, mag_bias_valid, mag_bias_variance[0], mag_bias_variance[1], mag_bias_variance[2], mag_device_id, timestamp_sample
21	estimator_states	37	5 (0.2%)	covariances[0], covariances[10], covariances[11], covariances[12], covariances[13], covariances[14], covariances[15], covariances[1], covariances[2], covariances[3], covariances[4], covariances[5], covariances[6], covariances[7], covariances[8], covariances[9], n_states, states[0], states[10], states[11], states[12], states[13], states[14], states[15], states[16], states[17], states[18], states[1], states[2], states[3], states[4], states[5], states[6], states[7], states[8], states[9], timestamp_sample
22	estimator_status	81	3194 (99.9%)	accel_device_id, baro_device_id, control_mode_flags, covariances[0], covariances[10], covariances[11], covariances[12], covariances[13], covariances[14], covariances[15], covariances[16], covariances[17], covariances[18], covariances[19], covariances[1], covariances[20], covariances[21], covariances[2], covariances[3], covariances[4], covariances[5], covariances[6], covariances[7], covariances[8], covariances[9], filter_fault_flags, gps_check_fail_flags, gyro_device_id, hagl_test_ratio, health_flags, hgt_test_ratio, innovation_check_flags, mag_device_id, mag_test_ratio, n_states, nan_flags, output_tracking_error[0], output_tracking_error[1], output_tracking_error[2], pos_horiz_accuracy, pos_test_ratio, pos_vert_accuracy, pre_flt_fail, pre_flt_fail_innov_heading, pre_flt_fail_innov_height, pre_flt_fail_mag_field_disturbed, reset_count_pod_d, reset_count_pos_ne, reset_count_quat, reset_count_vel_d, reset_count_vel_ne, solution_status_flags, states[0], states[10], states[11], states[12], states[13], states[14], states[15], states[16], states[17], states[18], states[19], states[1], states[20], states[21], states[2], states[3], states[4], states[5], states[6], states[7], states[8], states[9], time_slip, timeout_flags, timestamp_sample, vel_test_ratio, vibe[0], vibe[1], vibe[2]
23	estimator_status_flags	16	5 (0.2%)	control_status_changes, cs_ev_hgt, cs_ev_pos, cs_ev_yaw, cs_gnd_effect, cs_in_air, cs_inertial_dead_reckoning, cs_mag_field_disturbed, cs_rng_kin_consistent, cs_tilt_align, cs_vehicle_at_rest, cs_yaw_align, innovation_fault_status_changes, reject_hagl, reject_ver_pos, timestamp_sample
24	estimator_visual_odometry_aligned	9	5 (0.2%)	q[0], q[1], q[2], q[3], q_offset[0], timestamp_sample, x, y, z
25	event	10	5 (0.2%)	arguments[0], arguments[1], arguments[2], arguments[3], arguments[4], arguments[5], arguments[6], event_sequence, id, log_levels
26	failure_detector_status	1	5 (0.2%)	imbalanced_prop_metric
27	home_position	11	104 (3.3%)	alt, lat, lon, manual_home, valid_alt, valid_hpos, valid_lpos, x, y, yaw, z
28	hover_thrust_estimate	8	5 (0.2%)	accel_innov, accel_innov_test_ratio, accel_innov_var, accel_noise_var, hover_thrust, hover_thrust_var, timestamp_sample, valid
29	input_rc	26	3195 (100.0%)	channel_count, input_source, rc_failsafe, rc_lost_frame_count, rc_ppm_frame_length, rc_total_frame_count, rssi, timestamp_last_signal, values[0], values[10], values[11], values[12], values[13], values[14], values[15], values[16], values[17], values[1], values[2], values[3], values[4], values[5], values[6], values[7], values[8], values[9]
30	logger_status	8	3 (0.1%)	backend, buffer_size_bytes, buffer_used_bytes, dropouts, message_gaps, num_messages, total_written_kb, write_rate_kb_s
31	magnetometer_bias_estimate	3	5 (0.2%)	bias_x[0], bias_y[0], bias_z[0]
32	manual_control_setpoint	11	3194 (99.9%)	aux1, data_source, kill_switch, mode_slot, r, sticks_moving, timestamp_sample, valid, x, y, z
33	manual_control_switches	4	5 (0.2%)	kill_switch, mode_slot, switch_changes, timestamp_sample
34	mission_result	4	2150 (67.3%)	finished, instance_count, seq_reached, valid
35	multirotor_motor_limits	1	3 (0.1%)	saturation_status
36	offboard_control_mode	6	8 (0.3%)	ignore_acceleration_force, ignore_bodyrate_x, ignore_bodyrate_y, ignore_bodyrate_z, ignore_velocity, position
37	optical_flow	14	991 (31.0%)	frame_count_since_last_readout, ground_distance_m, gyro_temperature, gyro_x_rate_integral, gyro_y_rate_integral, gyro_z_rate_integral, integration_timespan, max_flow_rate, max_ground_distance, min_ground_distance, pixel_flow_x_integral, pixel_flow_y_integral, quality, time_since_last_sonar_update
38	parameter_update	8	4 (0.1%)	active, changed, custom_default, export_count, find_count, get_count, instance, set_count
39	ping	5	1627 (50.9%)	dropped_packets, ping_sequence, ping_time, rtt_ms, system_id
40	position_setpoint_triplet	35	2574 (80.5%)	current.acceptance_radius, current.alt, current.alt_valid, current.cruising_speed, current.cruising_throttle, current.lat, current.loiter_direction, current.loiter_radius, current.lon, current.position_valid, current.timestamp, current.type, current.valid, current.velocity_frame, current.velocity_valid, current.vx, current.vy, current.vz, current.x, current.y, current.yaw, current.yaw_valid, current.z, next.acceptance_radius, next.cruising_speed, next.cruising_throttle, next.loiter_radius, next.timestamp, next.type, previous.acceptance_radius, previous.cruising_speed, previous.cruising_throttle, previous.loiter_radius, previous.timestamp, previous.type
41	rate_ctrl_status	7	3129 (97.9%)	additional_integ1, pitchspeed, pitchspeed_integ, rollspeed, rollspeed_integ, yawspeed, yawspeed_integ
42	safety	2	1728 (54.1%)	safety_off, safety_switch_available
43	sensor_accel	17	520 (16.3%)	device_id, integral_dt, range_m_s2, samples, scaling, temperature, temperature_raw, timestamp_sample, x, x_integral, x_raw, y, y_integral, y_raw, z, z_integral, z_raw
44	sensor_baro	5	539 (16.9%)	altitude, device_id, pressure, temperature, timestamp_sample
45	sensor_combined	17	3196 (100.0%)	accel_calibration_count, accelerometer_integral_dt, accelerometer_m_s2[0], accelerometer_m_s2[1], accelerometer_m_s2[2], baro_alt_meter, baro_temp_celcius, baro_timestamp_relative, gyro_calibration_count, gyro_integral_dt, gyro_rad[0], gyro_rad[1], gyro_rad[2], magnetometer_ga[0], magnetometer_ga[1], magnetometer_ga[2], magnetometer_timestamp_relative
46	sensor_gyro	17	520 (16.3%)	device_id, integral_dt, range_rad_s, samples, scaling, temperature, temperature_raw, timestamp_sample, x, x_integral, x_raw, y, y_integral, y_raw, z, z_integral, z_raw
47	sensor_gyro_fft	22	5 (0.2%)	device_id, peak_frequencies_x[0], peak_frequencies_x[1], peak_frequencies_x[2], peak_frequencies_y[0], peak_frequencies_y[1], peak_frequencies_y[2], peak_frequencies_z[0], peak_frequencies_z[1], peak_frequencies_z[2], peak_snr_x[0], peak_snr_x[1], peak_snr_x[2], peak_snr_y[0], peak_snr_y[1], peak_snr_y[2], peak_snr_z[0], peak_snr_z[1], peak_snr_z[2], resolution_hz, sensor_sample_rate_hz, timestamp_sample
48	sensor_mag	13	520 (16.3%)	device_id, error_count, is_external, range_ga, scaling, temperature, timestamp_sample, x, x_raw, y, y_raw, z, z_raw
49	sensor_preflight	3	3188 (99.7%)	accel_inconsistency_m_s_s, gyro_inconsistency_rad_s, mag_inconsistency_ga
50	sensor_selection	4	500 (15.6%)	accel_device_id, baro_device_id, gyro_device_id, mag_device_id
51	sensors_status_imu	18	5 (0.2%)	accel_device_id_primary, accel_device_ids[0], accel_device_ids[1], accel_healthy[0], accel_healthy[1], accel_inconsistency_m_s_s[0], accel_inconsistency_m_s_s[1], accel_priority[0], accel_priority[1], gyro_device_id_primary, gyro_device_ids[0], gyro_device_ids[1], gyro_healthy[0], gyro_healthy[1], gyro_inconsistency_rad_s[0], gyro_inconsistency_rad_s[1], gyro_priority[0], gyro_priority[1]
52	system_power	10	3196 (100.0%)	brick_valid, sensors3v3[0], sensors3v3_valid, servo_valid, usb_connected, usb_valid, v3v3_valid, voltage3v3_v, voltage5V_v, voltage5v_v
53	takeoff_status	2	5 (0.2%)	takeoff_state, tilt_limit
54	telemetry_status	45	3174 (99.3%)	component_id, data_rate, flow_control, forwarding, ftp, heartbeat_component_udp_bridge, heartbeat_time, heartbeat_type_gcs, heartbeat_type_onboard_controller, heartbeats[0].state, heartbeats[0].system_id, heartbeats[0].timestamp, heartbeats[0].type, heartbeats[1].component_id, heartbeats[1].state, heartbeats[1].system_id, heartbeats[1].timestamp, heartbeats[1].type, mavlink_v2, mode, noise, rate_multiplier, rate_rx, rate_tx, rate_txerr, remote_component_id, remote_noise, remote_rssi, remote_system_id, remote_system_status, remote_type, rssi, rx_message_count, rx_message_lost_count, rx_message_lost_rate, rx_rate_avg, rxerrors, streams, system_id, telem_time, tx_buffer_overruns, tx_message_count, tx_rate_avg, txbuf, type
55	timestamp	0	3196 (100.0%)	(standalone field)
56	timesync_status	4	1698 (53.1%)	estimated_offset, observed_offset, remote_timestamp, round_trip_time
57	trajectory_setpoint	22	1126 (35.2%)	acc_x, acc_y, acc_z, acceleration[0], acceleration[1], acceleration[2], jerk[0], jerk[1], jerk[2], jerk_x, jerk_y, jerk_z, thrust[0], thrust[1], vx, vy, vz, x, y, yaw, yawspeed, z
58	vehicle_acceleration	4	5 (0.2%)	timestamp_sample, xyz[0], xyz[1], xyz[2]
59	vehicle_air_data	6	2005 (62.7%)	baro_alt_meter, baro_device_id, baro_pressure_pa, baro_temp_celcius, rho, timestamp_sample
60	vehicle_angular_acceleration	4	8 (0.3%)	timestamp_sample, xyz[0], xyz[1], xyz[2]
61	vehicle_angular_velocity	4	1409 (44.1%)	timestamp_sample, xyz[0], xyz[1], xyz[2]
62	vehicle_attitude	13	3179 (99.5%)	delta_q_reset[0], delta_q_reset[1], delta_q_reset[2], delta_q_reset[3], pitchspeed, q[0], q[1], q[2], q[3], quat_reset_counter, rollspeed, timestamp_sample, yawspeed
63	vehicle_attitude_setpoint	12	3196 (100.0%)	landing_gear, pitch_body, q_d[0], q_d[1], q_d[2], q_d[3], q_d_valid, roll_body, thrust, thrust_body[2], yaw_body, yaw_sp_move_rate
64	vehicle_command	14	2782 (87.0%)	command, confirmation, from_external, param1, param2, param3, param4, param5, param6, param7, source_component, source_system, target_component, target_system
65	vehicle_constraints	2	2 (0.1%)	speed_down, speed_up
66	vehicle_control_mode	12	8 (0.3%)	flag_armed, flag_control_acceleration_enabled, flag_control_altitude_enabled, flag_control_attitude_enabled, flag_control_auto_enabled, flag_control_climb_rate_enabled, flag_control_manual_enabled, flag_control_offboard_enabled, flag_control_position_enabled, flag_control_rates_enabled, flag_control_velocity_enabled, flag_multicopter_position_control_enabled
67	vehicle_global_position	14	102 (3.2%)	alt, dead_reckoning, delta_alt, eph, epv, lat, lat_lon_reset_counter, lon, terrain_alt, terrain_alt_valid, vel_d, vel_e, vel_n, yaw
68	vehicle_gps_position	21	184 (5.8%)	alt, alt_ellipsoid, c_variance_rad, cog_rad, eph, epv, fix_type, hdop, jamming_indicator, lat, lon, noise_per_ms, s_variance_m_s, satellites_used, time_utc_usec, vdop, vel_d_m_s, vel_e_m_s, vel_m_s, vel_n_m_s, vel_ned_valid
69	vehicle_imu	13	8 (0.3%)	accel_calibration_count, accel_device_id, delta_angle[0], delta_angle[1], delta_angle[2], delta_angle_dt, delta_velocity[0], delta_velocity[1], delta_velocity[2], delta_velocity_dt, gyro_calibration_count, gyro_device_id, timestamp_sample
70	vehicle_imu_status	24	8 (0.3%)	accel_device_id, accel_rate_hz, accel_raw_rate_hz, accel_vibration_metric, delta_angle_coning_metric, gyro_coning_vibration, gyro_device_id, gyro_rate_hz, gyro_raw_rate_hz, gyro_vibration_metric, mean_accel[0], mean_accel[1], mean_accel[2], mean_gyro[0], mean_gyro[1], mean_gyro[2], temperature_accel, temperature_gyro, var_accel[0], var_accel[1], var_accel[2], var_gyro[0], var_gyro[1], var_gyro[2]
71	vehicle_land_detected	12	3196 (100.0%)	alt_max, at_rest, close_to_ground_or_skipped_check, freefall, ground_contact, has_low_throttle, horizontal_movement, in_descend, in_ground_effect, landed, maybe_landed, vertical_movement
72	vehicle_local_position	47	3177 (99.4%)	ax, ay, az, delta_heading, delta_vxy[0], delta_vxy[1], delta_vz, delta_xy[0], delta_xy[1], delta_z, dist_bottom, dist_bottom_rate, dist_bottom_sensor_bitfield, dist_bottom_valid, eph, epv, evh, evv, hagl_max, hagl_min, heading, heading_good_for_control, heading_reset_counter, ref_alt, ref_lat, ref_lon, ref_timestamp, timestamp_sample, v_xy_valid, v_z_valid, vx, vxy_max, vxy_reset_counter, vy, vz, vz_reset_counter, x, xy_global, xy_reset_counter, xy_valid, y, yaw, z, z_deriv, z_global, z_reset_counter, z_valid
73	vehicle_local_position_setpoint	17	2490 (77.9%)	acc_x, acc_y, acc_z, acceleration[0], acceleration[1], acceleration[2], thrust[0], thrust[1], thrust[2], vx, vy, vz, x, y, yaw, yawspeed, z
74	vehicle_magnetometer	6	2005 (62.7%)	calibration_count, device_id, magnetometer_ga[0], magnetometer_ga[1], magnetometer_ga[2], timestamp_sample
75	vehicle_rates_setpoint	5	3196 (100.0%)	pitch, roll, thrust, thrust_body[2], yaw
76	vehicle_status	20	3196 (100.0%)	armed_time, arming_state, component_id, data_link_lost, data_link_lost_counter, failsafe, failure_detector_status, is_rotary_wing, latest_arming_reason, latest_disarming_reason, nav_state, nav_state_timestamp, onboard_control_sensors_enabled, onboard_control_sensors_health, onboard_control_sensors_present, rc_signal_lost, system_id, system_type, takeoff_time, vehicle_type
77	vehicle_status_flags	35	3185 (99.7%)	angular_velocity_valid, attitude_valid, battery_healthy, circuit_breaker_engaged_enginefailure_check, circuit_breaker_engaged_gpsfailure_check, circuit_breaker_engaged_usb_check, circuit_breaker_flight_termination_disabled, circuit_breakers, condition_auto_mission_available, condition_battery_healthy, condition_global_position_valid, condition_home_position_valid, condition_local_altitude_valid, condition_local_position_valid, condition_local_velocity_valid, condition_power_input_valid, condition_system_hotplug_timeout, condition_system_sensors_initialized, conditions, dead_reckoning, flight_terminated, local_altitude_valid, local_position_valid, local_velocity_valid, offboard_control_loss_timeout, offboard_control_signal_lost, other_flags, position_reliant_on_vision_position, power_input_valid, rc_calibration_valid, rc_signal_found_once, sd_card_detected_once, system_hotplug_timeout, system_sensors_initialized, usb_connected
78	vehicle_vision_attitude	4	1740 (54.4%)	q[0], q[1], q[2], q[3]
79	vehicle_vision_position	7	1740 (54.4%)	v_xy_valid, v_z_valid, x, xy_valid, y, z, z_valid
80	vehicle_visual_odometry	20	521 (16.3%)	pose_covariance[0], pose_covariance[11], pose_covariance[15], pose_covariance[17], pose_covariance[18], pose_covariance[19], pose_covariance[1], pose_covariance[20], pose_covariance[2], pose_covariance[6], pose_covariance[7], q[0], q[1], q[2], q[3], timestamp_sample, velocity_frame, x, y, z
81	vehicle_visual_odometry_aligned	19	516 (16.1%)	pose_covariance[0], pose_covariance[11], pose_covariance[15], pose_covariance[17], pose_covariance[18], pose_covariance[19], pose_covariance[1], pose_covariance[20], pose_covariance[2], pose_covariance[6], pose_covariance[7], q[0], q[1], q[2], q[3], q_offset[0], x, y, z

Dataset Features

Major PX4 topics that can mostly be found in flight logs and their descriptions:

Group #	Prefix	Count	Description / Key Examples
1	actuator_controls_0	9	Pilot control inputs (roll, pitch, yaw, thrust).
2	actuator_outputs	17	Final PWM motor outputs and servo positions.
3	battery_status	25	Power metrics including voltage, current, and cell data.
4	camera_trigger	3	Image capture events and UTC timestamps.
5	cpuload	2	Flight controller CPU and RAM utilization.
6	distance_sensor	15	Lidar/Ultrasound range data and variance.
7	ekf2_innovations	39	Kalman filter health and sensor discrepancies.
8	ekf2_timestamps	9	Relative timestamps for specific sensor updates in EKF.
9	estimator_status	75	Internal EKF states, covariances, and health flags.
10	input_rc	27	Raw Remote Control (RC) input values and signal strength.
11	manual_control_setpoint	26	Manual stick positions and hardware switch states.
12	mission_result	14	Mission progress, sequence reached, and failure flags.
37	optical_flow	14	Ground velocity estimations and surface quality from optical flow sensors.
13	ping	6	Latency and round-trip time for system communication.
14	position_setpoint_triplet	123	Target coordinates for previous, current, and next waypoints.
15	rate_ctrl_status	7	Internal states of the angular rate controller.
16	safety	4	Safety switch status and override availability.
17	sensor_accel	16	Raw and filtered accelerometer data in $m/s^2$.
18	sensor_baro	4	Static pressure and temperature from the barometer.
19	sensor_combined	9	Synchronized and downsampled IMU data.
20	sensor_gyro	16	Raw and filtered gyroscope data in $rad/s$.
21	sensor_mag	12	Magnetometer (compass) field strength and device info.
22	sensor_preflight	4	Pre-arm sensor inconsistency and calibration checks.
23	sensor_selection	4	Device IDs for the currently active/selected sensors.
24	system_power	13	Internal rail voltages (5V, 3.3V) and hardware status.
25	telemetry_status	27	MAVLink communication health and data rates.
26	timestamp	1	Master log entry time (Microseconds since boot).
27	timesync_status	4	Clock synchronization offsets and round-trip time.
28	trajectory_setpoint	17	Targeted position, velocity, and acceleration vectors.
29	vehicle_air_data	4	Barometric altitude and air density calculations.
30	vehicle_angular_velocity	4	Compensated rotational rates of the vehicle body.
31	vehicle_attitude	12	Current orientation (Quaternions) and Euler rates.
32	vehicle_attitude_setpoint	20	Desired orientation and thrust for the flight controller.
33	vehicle_command	14	Logged MAVLink commands and execution parameters.
67	vehicle_global_position	14	Fused global position data including latitude, longitude, and altitude above MSL.
68	vehicle_gps_position	21	GPS coordinates (lat, lon, alt), satellite count, and signal quality (fix_type).
34	vehicle_land_detected	6	Logic flags for ground contact and landing status.
35	vehicle_local_position	42	Position in NED frame (x, y, z) and local velocity.
36	vehicle_local_position_setpoint	17	Targeted local coordinates for position holding.
37	vehicle_magnetometer	3	Unified magnetic field data for the estimator.
38	vehicle_rates_setpoint	7	Desired roll, pitch, and yaw rates.
39	vehicle_status	31	Navigation state, arming state, and failsafe status.
40	vehicle_status_flags	31	Detailed boolean flags for hardware/software health.
41	vehicle_vision_attitude	12	Attitude data provided by external Vision systems.
42	vehicle_vision_position	42	Position data provided by external Vision systems.
43	vehicle_visual_odometry	60	Raw visual odometry pose and covariance matrices.
44	vehicle_visual_odometry_aligned	60	Transformation-aligned visual odometry data.