The DOI displayed above is for this specific version of this dataset, which is currently the latest. Newer versions may be published in the future. For a link that will always point to the latest version, please use
DOI: 10.4121/f474ef0a-6ef1-4ea1-a958-4827c4eadf60

Stein Stroobants; Guido de Croon; Christophe de Wagter (2025): Data underlying the publication: Neuromorphic Attitude Estimation and Control. Version 1. 4TU.ResearchData. dataset. https://doi.org/10.4121/f474ef0a-6ef1-4ea1-a958-4827c4eadf60.v1

Categories

• Mechanical Engineering
• Aerospace Engineering
• Engineering

Keywords

Crazyflie drone imu low-level control quadrotor

Licence

CC0

Export as...

RefWorks BibTeX Reference Manager Endnote DataCite NLM DC CFF

by Stein Stroobants , Guido de Croon, Christophe de Wagter

Datasets obtained by onboard logging on Crazyflie quadrotor for:

Stroobants, Stein, Christophe de Wagter, and Guido CHE De Croon. "Neuromorphic Attitude Estimation and Control." (2024).

(FIX REF WHEN LINK TO RA-L PUBLICATION IS OUT)

It contains both input data and corresponding labels, depending on what is desired during training.

Datasets were logged to SD card at 500Hz, and contain the following columns:

timestamp, gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z, controller.actuatorThrust, controller.pitch, controller.roll, controller.yaw, pid_attitude.pitch_output, pid_attitude.roll_output, pid_attitude.yaw_output, pid_attitude.pitch_outI, pid_attitude.roll_outI, pid_attitude.yaw_outI, pid_rate.pitch_output, pid_rate.roll_output, pid_rate.yaw_output, pid_rate.pitch_outI, pid_rate.roll_outI, pid_rate.yaw_outI, stateEstimate.pitch, stateEstimate.roll, stateEstimate.yaw, snn_control.torque_pitch, snn_control.torque_roll

these are the timestamp in millisecond, the output of gyro and accelero, the thrust command, the attitude commands, the rate commands, the torque commands, the attitude state estimates and the commands produced by the SNN that was running alongside the PID controller (for reference only).

History

• 2025-03-18 first online, published, posted

Publisher

4TU.ResearchData

Format

.csv

Associated peer-reviewed publication

Neuromorphic Attitude Estimation and Control

References

• https://doi.org/10.48550/arXiv.2411.13945

Funding

• This material is based upon work supported by the Air Force Office of Scientific Research under award number FA8655-20-1-7044. (grant code FA8655-20-1-7044) Air Force Office of Scientific Research

Organizations

TU Delft, Faculty of Aerospace Engineering, Department of Control and Operations, Control and Simulation