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Assisted takeoff

  • US 10,061,327 B2
  • Filed: 07/28/2015
  • Issued: 08/28/2018
  • Est. Priority Date: 03/27/2014
  • Status: Active Grant
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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