	US 12,379,730 B2
	Methods and systems for flight control configured for use in an electric aircraft
Nicholas Moy, Burlington, VT (US); and Joshua E. Auerbach, Waterbury Center, VT (US)
Assigned to BETA AIR LLC, South Burlington, VT (US)
Filed by BETA AIR, LLC, South Burlington, VT (US)
Filed on Sep. 17, 2021, as Appl. No. 17/478,143.
Application 17/478,143 is a continuation in part of application No. 17/218,428, filed on Mar. 31, 2021, granted, now 11,524,767.
Prior Publication US 2022/0326704 A1, Oct. 13, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); B64D 27/24 (2024.01); B64D 31/06 (2024.01); G05D 1/08 (2006.01)

CPC G05D 1/0011 (2013.01) [B64D 27/24 (2013.01); B64D 31/06 (2013.01); G05D 1/0808 (2013.01)]

22 Claims

1. A system for flight control configured for use in an electric aircraft, the system comprising:

at least one sensor attached to at least one flight component and configured to detect signal datum from the at least one flight component;

an inertial measurement unit, the inertial measurement unit configured to:

detect at least an aircraft angle; and

detect at least an aircraft angle rate; and

a flight controller configured to generate an autonomous function, the flight controller comprising:

an outer loop controller, the outer loop controller configured to:

receive at least an input datum;

receive at least the aircraft angle from the inertial measurement unit; and

generate a rate setpoint as a function of at least the input datum;

an inner loop controller, the inner loop controller configured to:

receive at least the aircraft angle rate;

receive the rate setpoint from the outer loop controller; and

generate a moment datum as a function of the rate setpoint; and

a mixer, the mixer configured to:

receive the moment datum from the inner loop controller;

receive the signal datum from the at least one sensor;

perform a torque allocation as a function of the moment datum and the signal datum; and

generate at least a motor command datum as a function of the torque allocation.