File Layout and Per-Run Capability Matrix

Each flight run:

<run>/<run>_sensors/ (CSVs + time_info.yaml + README.txt)
<run>/<run>_sensors/ground_truth/ (truth + offsets)
<run>/<run>_nav_cam/ and <run>/<run>_stereo_cam/ (*_timestamps.csv + img/)

Conventions: comma-delimited CSV, optional space after comma, headered unless noted.

nav PNG 2056×1542, stereo PNG 848×800, both 8-bit mono.

Run group	Core sensors	RTK	UWB	Mocap	Outdoor/Mars GT	Nav cam	Stereo cam
`indoor_1..3`	yes	no	`indoor_3` only	yes	no	yes	yes
`outdoor_1`	yes	yes	yes	no	yes	yes	yes
`transition_1..3`	yes	yes	yes	yes (late segment)	yes (outdoor segment)	yes	yes
`mars_1..19`	yes	yes	no	no	yes	all but `mars_6`; `mars_5` empty	absent on `mars_1,2,3,7`; `mars_6` empty

Per-run presence (verified against the distributed INSANE dataset):

px4_rpm.csv exists only on the seven Klagenfurt runs (indoor_*, outdoor_1, transition_*) and the vibration bundles — absent on all 19 Mars runs.
rs_odom.csv exists only on indoor_*, outdoor_1, transition_*, and mars_1..4.
lrf_range.csv is present on every numbered flight run (indoor_1..3, outdoor_1, transition_1..3, mars_1..19), on the static bundle, and on all six vibration sensor bundles (v10–v100) — unlike px4_rpm.csv and rs_odom.csv, the LRF altimetry lane has no gaps.

Supplementary bundles: the static recording, calibration raw bundles, camera-calibration bundles, vibration bundles, and reserve re-exports are summarized on Supplementary Bundles.

Across the six raw camera-calibration bundle directories there are 14 top-level .bag files totaling 51375270834 bytes; only insane_nav_cam_mars_raw duplicates its intrinsic and extrinsic bags under raw_data/, and those duplicate copies are byte-identical to the top-level bags.

The public cns_flightstack checkout [1] preserves the recording chain upstream of the downloaded CSV/PNG files:

fs_operator.launch triggers /data_recorder/record,
data_recorder launches record_full.sh or record_start_dual.sh,
those scripts invoke nodelet_rosbag or rosbag record,
and safe_merge_data_{single,multi}_dev.sh merges the per-device recordings and logs into one post-flight bundle.

Dual-device capture is explicit there: record_start_dual.sh starts dev1 locally and dev2 over SSH, and safe_merge_data_multi_dev.sh then synchronizes both devices’ recording directories and logs into the merged bundle.
The recorder’s built-in non-camera topic groups include PX4 IMU, magnetometer, raw GPS, static pressure, temperature, motor speed, battery, mocap raw transform, autonomy/watchdog/mission-sequencer traffic, MAVROS local and vision pose/odom topics, and MaRS outputs such as full_state_out, odom_state_out, gps1_enu, and pose1_in.
The public flightstack config preserves the recorder architecture but not a committed INSANE-specific camera-topic fill: flightstack_bringup/configs/global/fs_vars.env leaves FS_RECORD_ADD_DEV1_CAM, FS_RECORD_ADD_DEV2_CAM, and the related add-on arrays empty.

References

[1]

aau-cns, CNS Flight Stack. GitHub. Accessed: Jun. 09, 2026. [Online]. Available: https://github.com/aau-cns/flight_stack