Assisted takeoff
First Claim
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1. A method of assisted takeoff of a movable object, said method comprising:
- increasing output to an actuator that drives a propulsion unit of the movable object under a first feedback control scheme, wherein the output to the actuator results in the increase of an altitude of the movable object;
determining, with aid of a processor, whether the movable object has met a takeoff threshold based on at least one of the output to the actuator, a velocity of the movable object, or an acceleration of the movable object; and
controlling the output to the actuator using a second feedback control scheme different from the first feedback control scheme when the movable object has met the takeoff threshold, wherein the first feedback control scheme results in proportional-derivative control for the vertical or lateral direction of the movable object and the second feedback control scheme results in proportional-integral-derivative control for the vertical or lateral direction of the movable object.
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Abstract
Systems, methods, and devices are provided for assisted takeoff of an aerial vehicle. The aerial vehicle may takeoff using a first control scheme and switch to a second control scheme for normal flight when a takeoff threshold is met. The first control scheme optionally does not use integral control while the second control scheme may use integral control. The aerial vehicle may determine that a takeoff threshold is met, based on an output to a motor of the aerial vehicle and/or an acceleration of the aerial vehicle.
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Citations
18 Claims
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1. A method of assisted takeoff of a movable object, said method comprising:
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increasing output to an actuator that drives a propulsion unit of the movable object under a first feedback control scheme, wherein the output to the actuator results in the increase of an altitude of the movable object; determining, with aid of a processor, whether the movable object has met a takeoff threshold based on at least one of the output to the actuator, a velocity of the movable object, or an acceleration of the movable object; and controlling the output to the actuator using a second feedback control scheme different from the first feedback control scheme when the movable object has met the takeoff threshold, wherein the first feedback control scheme results in proportional-derivative control for the vertical or lateral direction of the movable object and the second feedback control scheme results in proportional-integral-derivative control for the vertical or lateral direction of the movable object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for assisted takeoff of a movable object, said system comprising:
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an actuator of the movable object, wherein an output to the actuator drives a propulsion unit of the movable object and results in the increase of an altitude of the movable object; and one or more processors, individually or collectively configured to; determine whether the movable object has met a takeoff threshold based on at least one of the output to the actuator, a velocity of the movable object, or an acceleration of the movable object, and generate a signal used to control the output to the actuator using a first feedback control scheme when the movable object has not met the takeoff threshold, and using a second feedback control scheme different from the first feedback control scheme when the movable object has met the takeoff threshold, wherein the first feedback control scheme results in proportional-derivative control for the vertical or lateral direction of the movable object and the second feedback control scheme results in proportional-integral-derivative control for the vertical or lateral direction of the movable object. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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Specification