*4.1. Data Description*

The training of a neural network model requires a lot of data to be collected from a laboratory P200 quad-rotatory UAV. The main control panel of the UAV is pixhawk4, which is also equipped with jeson tx2, binocular camera, and other sensors, As shown in Figure 12.

**Figure 12.** P200 drone.

Over 90,000 data were collected in flight, of which 80,000 were valid. The training data is pre-processed and divided into four datasets, of which there are eight types of pre-defined faults, and eight types are considered to be the eight states of the UAV. The actual experimental data are shown in the Table 2.


**Table 2.** Description of UAV datasets.
