Kitty Hawk Corporation

Alexander David Selwa

Mark Johnson Cutler

Todd Reichert

Dennis Young Kwon

Brittney Rae Miculka

Britney Rae Miculka

A flight-time variable associated with an aircraft is determined including by determining the flight-time variable while the aircraft is flying. It is determined whether the aircraft is airworthy based at least in part on the flight-time variable. In response to determining that the aircraft is not airworthy, the aircraft is automatically landed.

Automated self-testing

A forward velocity associated with an aircraft is received. The aircraft includes a multicopter with a plurality of rotors which rotate in a substantially horizontal plane. A pitch offset is determined based at least in part on the forward velocity, where the pitch offset changes monotonically with the forward velocity. A desired pitch is determined based at least in part on the pitch offset and a pitch angle specified via a hand control. A plurality of control signals for the plurality of rotors is determined based at least in part on the desired pitch.

Decoupled hand controls for aircraft with vertical takeoff and landing and forward flight capabilities

First and second signals respectively associated with first and second motors are obtained. First and second motor wear metric that respectively represent an amount of wear associated with the first and second motors are determined based at least in part on the first and second signals, respectively. It is determined whether at least one of the first or second motor wear metrics exceeds a failure threshold. The VTOL vehicle is automatically prevented from performing a vertical takeoff attempt if least one of the first or second motor wear metrics exceeds the failure threshold. The first and second rotors are respectively positioned at first and second angles relative to a horizontal plane, at least during a hovering mode of the VTOL vehicle. The first and second angles are different angles. The first and second motors are respectively associated with the first and second rotors.

Motor wear metric generator

A first hand control controls an altitude of a vertical takeoff and landing (VTOL) aircraft; the movement of the VTOL aircraft within a plane defined by a roll axis and a pitch axis is independent of the first hand control. The first hand control is provided on a first hand side of a pilot's seat included in the VTOL aircraft. A second hand control controls the movement of the VTOL aircraft within the plane defined by the roll axis and the pitch axis; the altitude of the VTOL aircraft is independent of the second hand control. The second hand control is provided on a second hand side of the pilot's seat that is opposite from the first hand side.

A signal associated with a motor is obtained where the motor is included in a aircraft that has flight capabilities. A motor wear metric that represents an amount of wear experienced by the motor is determined based at least in part on the signal. It is determined, at a flight computer that is included in the aircraft, whether to restrict the flight capabilities of the aircraft based at least in part on the motor wear metric. The flight capabilities of the aircraft are restricted in the event it is so determined.

A first sensitivity level is used to interpret an input signal received from an input device in a vehicle while the vehicle is in a first region. A second sensitivity level is used to interpret the input signal received from the input device in the vehicle while the vehicle is in a second region, wherein the second sensitivity level is greater than the first sensitivity level.

Variable sensitivity input device for vehicle

Hand controls for an aircraft, including a single axis hand control which is configured to control movement of an aircraft along a vertical axis where the aircraft includes a plurality of rotors that are attached to the aircraft at a fixed position and the plurality of rotors rotate independently of one another. The hand controls further include a three axis hand control which is configured to control movement of the aircraft within a plane defined by a roll axis and a pitch axis, as well as about a yaw axis.

In an embodiment, a system for generating a motor wear metric includes a process configured to obtain a signal associated with a motor of an aircraft, determine a motor wear metric based at least in part on the obtained signal, and output information about motor wear based at least in part on the determined motor wear metric. The system includes a memory coupled to the processor and configured to provide the processor with instructions and store the determined motor wear metric.

An input attitude associated with an input device of an aircraft is received. A supplemental attitude is generated, including by selecting a position-based supplemental attitude to be the supplemental attitude in the event the input device is in a disengaged state and selecting a velocity-based supplemental attitude to be the supplemental attitude in the event the input device is in an engaged state. The input attitude and the supplemental attitude are combined in order to obtain a combined attitude. The aircraft is controlled using the combined attitude.

Supplemental attitude with engaged and disengaged input device modes

A value for an aircraft movement limit is received where the aircraft movement limit is associated with a manned aircraft. The aircraft movement limit is automatically set to the value. A pilot instruction is received and a control signal for the aircraft is generated using the pilot instruction and the aircraft movement limit.

Aircraft movement limits for safe flight

Autonomous flight is performed in an open loop mode over a first range of altitudes, wherein a plurality altitude-related data from a plurality of altitude-related sensors is ignored while performing the autonomous flight in the open loop mode. The autonomous flight is performed in a closed loop mode over a second range of altitudes, wherein: the plurality of altitude-related data from the plurality of altitude-related sensors is used while performing the autonomous flight in the closed loop mode, and the first range of altitudes is a non-overlapping, lower range of altitudes compared to the second range of altitudes.

Growing community of inventors

Mountain View, CA, United States of America

Alexander David Selwa