| CPC B64U 50/19 (2023.01) [G05D 1/46 (2024.01); G05D 1/854 (2024.01); B64U 10/14 (2023.01); B64U 2201/20 (2023.01)] | 18 Claims |
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1. An aerial vehicle comprising:
one or more motors;
one or more sensors configured to detect data;
a compensator module comprising:
a conditions adjustment module that adjusts torque of the one or more motors of the aerial vehicle based on the data that comprise environmental conditions;
an iterative mixing module that scales the adjustment of the torque of the one or more motors to control the one or more motors based on the environmental conditions; and
a converter module that converts the adjustment of the torque of the one or more motors based upon the adjustment of the iterative mixing module; and
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; and
determine a motor speed for the one or more motors based on the revised torque values.
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