UAV-FD: a dataset for actuator fault detection in multirotor drones

This dataset collects real flight data from a hexarotor under the effects of a chipped blade. A conventional ArduPilot based controller is employed, where the ArduPilot firmware is customized to increase the signal logging rate of the IMU variables, thus capturing enough information at higher frequencies. Additional variables are available, including on-board measurements, commands, estimations, and parameters; in particular, the actual speed of each motor is measured as well. The purpose of the UAV-FD dataset is to accelerate the research on actuator fault diagnosis for multirotor vehicles.