Per-Run Quick Reference

Env: I=indoor, T=transition, O=outdoor, M=Mars. GT: mocap / RTK+mag (ground_truth_8hz/80hz) / stitched (transition). The Defects column lists run-specific issues from Schema and Parsing and Known Defects.

Run Env Calib GT Notable defects / notes
indoor_1 I klu1 mocap LSM gyro bias; px4_rpm 1 s-bucketed t; rs_odom 19% NaN; no GPS fix
indoor_2 I klu1 mocap LSM gyro bias; px4_rpm 1 s-bucketed t; no GPS fix
indoor_3 I klu1 mocap LSM accel unscaled (×1.5); LSM gyro bias; UWB; no GPS fix
outdoor_1 O klu1 RTK+mag LSM accel unscaled; LSM gyro bias + spikes; rs_odom 69% NaN; RTK clock offset ~82.7 d; rtk1 mostly float; UWB; shipped GT attitude ~17° gravity-inconsistent (Source of Truth)
transition_1 T klu2 stitched LSM accel unscaled + gyro bias; 4.97 s GT gap (no co-temporal GT8/mocap overlap); UWB; mocap 864 ms gap; shipped GT attitude ~15° gravity-inconsistent (Source of Truth)
transition_2 T klu2 stitched LSM accel unscaled + gyro bias; 5.50 s GT gap (no co-temporal GT8/mocap overlap); rs_odom all-NaN; GPS glitch; UWB; shipped GT attitude ~15° gravity-inconsistent
transition_3 T klu2 stitched • LSM accel unscaled + gyro bias
• 77.75 s GT8 gap contains the 42.8 s mocap_vehicle segment (no co-temporal GT8/mocap overlap)
• 225 s mocap_vehicle gap
• no time_info.yaml/sensors README
• 4 referenced stereo pairs absent on disk plus corrupt 7110_c2.png
• ~gvfKkcJ.tmp
• UWB
• shipped GT attitude ~16° gravity-inconsistent
mars_1 M mars RTK+mag rs_imu dead (1 row); rs_odom dead; no stereo; GT attitude tilt ~5.3° (Source of Truth)
mars_2 M mars RTK+mag rs_imu 13.6 Hz; rs_odom 746 s gap + backward step; no stereo
mars_3 M mars RTK+mag rs_imu dead; rs_odom dead; no stereo; LRF spurious 84.85 m; extra outdoor_gt; offset mismatch
mars_4 M mars RTK+mag • nav PNG tail missing (554)
• rs_odom 58% NaN
• _data supersets
• mag swap
• GT attitude tilt ~55° median (p90 ~77°) — the worst run; bimodal (near-correct over part of the flight, tens-of-deg over another)
mars_5 M mars RTK+mag nav header-only (empty img); no rs_odom; GT attitude tilt ~0.9° (near-correct)
mars_6 M mars RTK+mag no rs_imu, no nav cam, header-only stereo
mars_7 M mars RTK+mag rs_imu 87 Hz; no stereo; no rs_odom
mars_8 M mars RTK+mag nav PNG tail missing (298); _data supersets; mag swap; GT attitude tilt ~10.2°
mars_9..13 M mars RTK+mag healthy; stereo backward t[ns] steps; mars_12 extra outdoor_gt + offset mismatch; mars_10 GT attitude tilt ~12.6°
mars_14 M mars RTK+mag extra outdoor_gt; time-offset files disagree by 14.2 s; GT attitude tilt ~17.7° (p90 ~58°; second-worst after mars_4)
mars_15 M mars RTK+mag extra outdoor_gt + offset mismatch; orphan ground_truth/lsm_imu.csv; GT attitude tilt ~9.6°
mars_16 M mars RTK+mag healthy
mars_17 M mars RTK+mag the one Mars run whose two timing files agree
mars_18 M mars RTK+mag nav PNG tail missing (2362, ~64%); mars_results/ diagnostic exports; extra outdoor_gt; offset mismatch; GT attitude tilt ~3.3°
mars_19 M mars RTK+mag • healthy aside from a crop-limited GT (reproduced — see Ground-Truth Products)
• stereo_cam_tiemstamps.csv typo alias

Full per-mission Mars GT-attitude gravity tilt (shipped GT, static-epoch median / p90 in degrees, strict gate). The four KLU-site runs are in the rows above and Source of Truth. Full percentiles, sample counts, and method in the ground-truth-attitude gravity-consistency study:

Mission med° p90° Mission med° p90°
mars_1 5.3 6.3 mars_11 6.4 7.7
mars_2 17.2 18.5 mars_12 7.2 11.4
mars_3 15.9 17.0 mars_13 15.1 16.1
mars_4 55.0 77.3 mars_14 17.7 58.0
mars_5 0.9 1.3 mars_15 9.6 10.4
mars_6 1.4 4.3 mars_16 6.2 11.3
mars_7 1.4 2.1 mars_17 2.5 3.8
mars_8 10.2 11.3 mars_18 3.3 15.5
mars_9 12.1 13.4 mars_19 6.5 7.8
mars_10 12.5 13.8