ASSISTED TAKEOFF
First Claim
Patent Images
1. A method of assisted takeoff of a movable object, said method comprising:
- increasing output to an actuator 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; 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 PD control for the vertical or lateral direction of the movable object and the second feedback control scheme results in PID control for the vertical or lateral direction of the movable object.
2 Assignments
0 Petitions
Accused Products
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.
-
Citations
20 Claims
-
1. A method of assisted takeoff of a movable object, said method comprising:
-
increasing output to an actuator 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; 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 PD control for the vertical or lateral direction of the movable object and the second feedback control scheme results in PID control for the vertical or lateral direction of the movable object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
-
13. A system for assisted takeoff of a movable object, said system comprising:
-
an actuator of the movable object, wherein an output to the actuator 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, and generate a signal used to control the output to the actuator (1) using a first feedback control scheme when the movable object has not met the takeoff threshold, and (2) using a feedback second 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 PD control for the vertical or lateral direction of the movable object and the second feedback control scheme results in PID control for the vertical or lateral direction of the movable object. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
-
Specification