US 12,077,292 B2
Synchronized pipeline flight controller
Joseph Anthony Enke, Campbell, CA (US)
Assigned to GoPro, Inc., San Mateo, CA (US)
Filed by GoPro, Inc., San Mateo, CA (US)
Filed on Feb. 23, 2021, as Appl. No. 17/183,212.
Application 17/183,212 is a continuation of application No. 16/382,286, filed on Apr. 12, 2019, granted, now 10,953,983.
Application 16/382,286 is a continuation of application No. 15/268,447, filed on Sep. 16, 2016, granted, now 10,268,210, issued on Apr. 23, 2019.
Prior Publication US 2021/0245877 A1, Aug. 12, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. B64C 39/02 (2023.01); B64U 10/13 (2023.01); B64U 101/30 (2023.01); G05D 1/00 (2006.01); H04L 67/12 (2022.01)
CPC B64C 39/02 (2013.01) [B64C 39/024 (2013.01); G05D 1/0088 (2013.01); B64U 10/13 (2023.01); B64U 2101/30 (2023.01); H04L 67/12 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A controller for an unmanned aerial vehicle, comprising:
a pipeline configured to interface between components of the unmanned aerial vehicle, wherein the pipeline includes elements including two or more of a driver, a filter, a combine, an estimator, a controller, or a mixer, wherein each of the elements receives inputs synchronously from a preceding element of the elements and generates outputs synchronously to a succeeding element of the elements; and
a scheduler configured to schedule an execution time for each of the elements to provide a constant pipeline execution time, wherein the scheduler includes preemption and priority based scheduling such that lower priority tasks execute without adversely affecting an execution time of higher priority tasks.