*** Test data of the Unified Actuator Nonlinear Dynamic Inversion controller for the Variable Skew Quad plane ***
Authors: T.M.L. De Ponti
Control & Simulation, Faculty of Aerospace Engineering, Delft
University of Technology
Corresponding author: R.C. Alderliesten
Contact Information:
r.c.alderliesten@tudelft.nl
Delft University of Technology - Faculty of Aerospace Engineering
Kluyverweg 1
2629 HS Delft
The Netherlands

***General Introduction***
This dataset accompanies the paper titled "Unified Actuator Nonlinear Dynamic Inversion controller for the Variable Skew Quad Plane." 
It includes flight test data, simulation data, post-processing scripts, and derivations. 
The data in this data set was collected at the Cyberzoo of the
Delft University of Technology - Faculty of Aerospace Engineering, between October 2023
and December 2023.

***Purpose of the test campaign***
The presented controller is demonstrated to be superior in tracking position and attitude trajectories compared to an Incremental Nonlinear Dynamic Inversion controller. 
The dataset contains simulation and real indoor testing data comparing the trajectory tracking performance of the two controllers.

***Test equipment***
All tests were performed on the Variable Skew Plane of TuDelft. Position data is acquired through the positioning system of the Cyberzoo. Attitude data is acquired through the onboard gyros of the autopilot.


***Description of the data in this data set***
The data included in this data set is divided in 3 subfolders.
-Simulation data of the position sinusoidal test.
-Flight test data of the position sinusoidal test. 
-Flight test data of the over-actuated test. 
You can find a matlab file per dataset which processes the data to obtain all the graphical comparison discussed in the paper.