Gopro, Inc.

Skydio, Inc.

Jean-Bernard Berteaux

Joseph Anthony Enke

Garance Bruneau

Axel Murguet

Benjamin P Tankersley

Sammy Omari

Thomas Gubler

Fabio Diem

Lukas Schmid

Benjamin Tankersley

An aerial vehicle, comprising: one or more motors, one or more sensors, and a flight sub-system. The one or more sensors configured to detect data. The flight sub-system includes an attitude controller module; a rate controller module; and a compensator module. The compensator module is configured to: determine a maximum RPM of the one or more motors or a maximum torque of the one or more motors; receive a torque vector from the rate controller module; determine a rotational speed of the one or more motors to generate a desired flight orientation based upon the torque vector; and consider sensor data from the one or more sensors to adjust the rotational speed of the one or more motors.

Variable condition motor controller

A controller system of an aerial vehicle may receive environmental data from one or more sensors of the aerial vehicle and adjusts limits of the aerial vehicle given the environmental conditions. When the aerial vehicle receives an input, such as a flight input from a remote controller or an environmental input such as a gust of wind, the controller system calculates appropriate motor inputs that are provided to the thrust motors of the aerial vehicle such that the adjusted limits of the aerial vehicle are not exceeded. In calculating the appropriate input to the thrust motors, the controller system performs an iterative process. For example, for a given maximum torque that can be applied to the thrust motors, the controller system iteratively allocates the torque such that torque components that are important for the stability of the aerial are first fulfilled, whereas subsequent torque components may be fulfilled or scaled back.

The disclosure describes systems and methods for detecting an aerial vehicle landing. One method includes performing at least two of a plurality of landing tests to detect the landing of the aerial vehicle. The plurality of landing tests include a static test, a thrust test, and a shock test. Upon a detection of the landing by one of the at least two landing tests performed, the method further includes performing a free-fall test to detect a free fall of the aerial vehicle. The free fall of the aerial vehicle is a change in altitude of the aerial vehicle above an altitude change threshold. Upon a lack of a detection of the free fall by the free-fall test, the method includes setting a landed state for the aerial vehicle. Upon a detection of the free fall by the free-fall test, the method includes setting an in-air state for the aerial vehicle.

Landing detection systems

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Villars-sur-Glâne, Switzerland

Jean-Bernard Berteaux