The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 15, 2026
Filed:
Apr. 21, 2025
Kitty Hawk Corporation, Palo Alto, CA (US);
Alexander David Selwa, San Francisco, CA (US);
Todd Reichert, Mountain View, CA (US);
Mark Johnson Cutler, Sunnyvale, CA (US);
Kitty Hawk Corporation, Palo Alto, CA (US);
Abstract
A forward velocity and a roll angle associated with an aircraft is received, where the aircraft includes a multicopter with a plurality of rotors which rotate in a substantially horizontal plane. A yaw rate offset is determined based at least in part on the forward velocity and the roll angle, where the yaw rate offset increases over a first forward velocity range and decreases over a second forward velocity range and the yaw rate offset changes monotonically with the roll angle. A desired yaw rate is determined based at least in part on the yaw rate offset and a yaw rate 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 yaw rate.