The methods implemented for these experiments are described in the papers: [1] A. Suarez, M. Perez, A. E. Jimenez-Cano, G. Heredia, A. Ollero: "Cartesian Aerial Manipulator with Compliant Joint Arm", submitted to Robotics and Automation Letters, February 2019. [2] A. Suarez, P. Sanchez-Cuevas, M. Fernandez, M. Perez, G. Heredia and A. Ollero, "Lightweight and Compliant Long Reach Aerial Manipulator for Inspection Operations," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018, pp. 6746-6752. These data files correspond to two different contact force control experiments conducted with the Cartesian aerial manipulator in outdoors, using a Leica Total Station to measure the position of the UAV, the estimator and the Cartesian manipulator with compliant joint arm described in the paper. The force/torque is estimated from the joint deflection signal measured by a magnetic encoder integrated in the compliant joint. The control rate is set to 50 Hz, taking into account the RAM-read update rate of the Herkulex servos.