Per-Stream Sensor Reference

Schema, units, value domains, and quirks for every measured stream.

Column counts and value invariants were checked on every distributed file; t is always column 0.

• Each stream’s genuine defects are catalogued under Known Defects
• and its realistic in-flight degradations under Desirable Ugliness;
• the derived ground-truth lanes are on Ground-Truth Products.

Inertial Measurement Units

Inertial Measurement Units — px4_imu, lsm_imu, rs_imu.

Magnetometers

Magnetometers — px4_mag, lsm_mag.

Barometer

Barometer — px4_baro.

PX4 GPS

PX4 GPS — px4_gps, px4_gps_vel_data.

RTK GPS

RTK GPS — rtk_gps1, rtk_gps2.

Laser Range Finder

Laser Range Finder — lrf_range.

Ultra-Wideband Ranging

Ultra-Wideband Ranging — uwb_range.

RealSense Odometry

RealSense Odometry — rs_odom.

Motor State

Motor State — px4_rpm.

Motion Capture

Motion Capture — mocap_vehicle_data, mocap_tag_board.

Cameras

Cameras (Nav and Stereo) — the downward nav camera and the forward stereo pair.