US 11,673,665 B2
Variable condition motor controller
Joseph Anthony Enke, Campbell, CA (US); Benjamin Tankersley, San Mateo, CA (US); Jean-Bernard Berteaux, Villars-sur-Glâne (CH); Axel Murguet, Zurich (CH); and Garance Bruneau, Zurich (CH)
Assigned to GoPro, Inc., San Mateo, CA (US)
Filed by GoPro, Inc., San Mateo, CA (US)
Filed on May 27, 2021, as Appl. No. 17/331,962.
Application 17/331,962 is a continuation of application No. 16/673,355, filed on Nov. 4, 2019, granted, now 11,021,248.
Application 16/673,355 is a continuation of application No. 15/439,871, filed on Feb. 22, 2017, granted, now 10,464,670, issued on Nov. 5, 2019.
Prior Publication US 2021/0354822 A1, Nov. 18, 2021
Int. Cl. B64C 39/02 (2023.01); G05D 1/06 (2006.01); G05D 1/08 (2006.01)
CPC B64C 39/024 (2013.01) [G05D 1/063 (2013.01); G05D 1/0858 (2013.01); B64C 2201/027 (2013.01); B64C 2201/146 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An aerial vehicle, comprising:
one or more motors;
one or more sensors configured to detect data;
a control system configured to:
generate torque values based on the data;
generate revised torque values by validating sub-torque values representing a minimum amount of torque to maintain the aerial vehicle at a hover status;
determine a motor speed for the one or more motors based on the revised torque values;
determine a priority order for the sub-torque values, the priority order comprising at least one of a core thrust sub-torque value, a core pitch sub-torque value, a core roll sub-torque value, or a remaining pitch sub-torque value; and
control the one or more motors based on the priority order.