IMU, magnetometer, and motion capture data from a UAV used for indoor magnetic field mapping and localization. This data is split up into two folders. "stationary_magnetometer_data" 0.1Hz samples of a RM3100 magnetometer that was kept in one position from July 2022 through February 2023. The data is partitioned into separate files for analytical convenience of our research. Each file here is a CSV with a timestamp (synchronized with chrony to a central computer) and the three components of the measured magnetic field. We did not calibrate this stationary magnetometer. "UAV_and_mocap_data" has many subfolders. Each subfolder is labeled by a date and a small description of the goals for that test segment. There is a single "EXPLANATION" file in each subfolder that gives more detail on the provided data. The data here includes the trajectory flown by the UAV, outdoor calibration data to adjust the raw magnetometer measurements, and IMU/motion capture data for each listed flight test. The EXPLANATION file should explain what trajectory was flown for each individual flight test.