List of Datasets

Fixed wing

IDF-DS Pixhawk Telemetry

Fixed-wing telemetry, state estimation and trajectory modelling

Thirteen native Pixhawk telemetry recordings with supporting lap exports, including checked pitot airspeed and differential-pressure CSV segments; raw logs and lap cuts are not independent mission totals.

Metadata: Complete Metadata needs review Released 2025

Primary places to inspect, download, read about, or reproduce the dataset.

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Fixed wing
Environment
Outdoor
Data origin
Real-world
Sensor count
8
Ground truth
Available
Calibration
Not reported
Annotations
Not reported

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

Not reported

IMUs

3 reported

GNSS

1 reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Available; count not reported

Magnetometers

2 reported

Barometers

2 reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
3D position GNSS / INS Not reported Not reported Not reported Unknown Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Derived
Reference notes
Onboard local-position estimates proposed as supervised-learning labels, not independent GNSS-denied navigation truth. Specific raw estimator inputs/coverage require release review.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Not reported
Processed parameters
Not reported
Raw calibration data
Not reported
Calibration targets
Not reported

Calibration data

Calibration reproducibility details are not reported.

Notes

Not reported

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

This entry covers the thirteen verified native Pixhawk raw logs; the alternative SpeedyBee collection is outside the current sensor inventory.

The paper-wide 240-flight and 32-hour claims are unverified. Processed lap cuts must not be treated as independent missions.

The archive also has 120 grouped Pixhawk lap exports. Some ungrouped filenames reference log_1, whose native ULog is absent from this deposit.

SpeedyBee has 111 telemetry exports and 111 GPS sidecars: the telemetry file Lap068.csv is stored under processed/GPS beside Lap068_gps.csv.

Onboard learning labels share sensor inputs and are not independent GNSS-denied pose truth.

Camera and Pitot raw sensor inventories are not asserted here. Documentation flags uncalibrated Pitot for processed flights 117–120.

Exact chip identities, native sensor rates, full-log duration and a complete raw calibration release remain unverified.

Approximately 1 Hz in the checked processed segments for laps 001 and 117; the paper reports 10 Hz. Pitot coverage for other laps and the thirteen native logs is unverified. Laps 117–120 were recorded without a calibrated pitot tube; wind estimates may need offset correction.

Cameras

Not reported

IMUs

Pixhawk 6X raw-log inertial units

Model
Not reported
Count
3
Accel / gyro
Not reported

GNSS

Pixhawk configuration GNSS receiver

Model or name
Pixhawk configuration GNSS receiver
Count
1
Rate
Not reported
GNSS type
NOT REPORTED
Position output
Available
Velocity output
Available
Heading output
Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

DroneCAN DLVR family

Model or name
DroneCAN DLVR family
Count
Not reported
Rate
1 Hz
Airspeed output
Indicated airspeed, Derived true airspeed (m/s)
Differential pressure
Available (Pa)
Notes
Approximately 1 Hz in the checked processed segments for laps 001 and 117; the paper reports 10 Hz. Pitot coverage for other laps and the thirteen native logs is unverified. Laps 117–120 were recorded without a calibrated pitot tube; wind estimates may need offset correction.

Additional sensors

Barometer

Name
Pixhawk configuration pressure sensors
Count
2
Notes
Two distinct sensor_baro device IDs publish pressure measurements in all thirteen inspected native logs; do not substitute the paper hardware table for this released-file inventory.

Magnetometer

Name
Pixhawk configuration magnetic sensors
Count
2
Notes
Two distinct sensor_mag device IDs publish measurements in all thirteen inspected native logs. Raw logging is distinct from whether an estimator prioritizes a sensor.

Annotations

Reported annotation availability and task support.

Availability
Not reported
Format
Not reported
Class count
Not reported
Semantic segmentation Not reported
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
garciagascon2026idf

BibTeX

@article{garciagascon2026idf,
  title = {An open benchmark dataset for machine learning and intelligent trajectory optimization in fixed-wing unmanned aerial systems},
  author = {García-Gascón, César and Bas-Bolufer, Javier and Castelló-Pedrero, Pablo and García-Manrique, Juan Antonio},
  year = {2026},
  journal = {Scientific Data},
  volume = {13},
  pages = {364},
  doi = {10.1038/s41597-026-06716-3},
}

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