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 |
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.
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