| CPC B64D 31/06 (2013.01) [B64D 45/00 (2013.01); G07C 5/0808 (2013.01); B64D 2045/0085 (2013.01); G05D 1/0808 (2013.01); G05D 1/101 (2013.01)] | 14 Claims |
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8. A method, comprising:
receiving, at an allocation block in a vertical takeoff and landing vehicle, a set of one or more desired forces or desired moments;
receiving, at the allocation block, a health metric associated with at least one of: (1) a motor controller in the vertical takeoff and landing vehicle or (2) a rotor, in the vertical takeoff and landing vehicle, that operates in a vertical takeoff and landing mode at least some of the time;
determining, at the allocation block, a command signal, including by:
attempting to determine the command signal in a first manner that satisfies both the set of one or more desired forces or desired moments and the health metric; and
in the event the command signal is unable to be determined in the first manner, determining the command signal in a second manner that prioritizes flight control associated with one or more of a roll axis or a pitch axis over flight control associated with a yaw axis, wherein the roll axis, the pitch axis, and the yaw axis are mutually orthogonal;
outputting, from the allocation block to the motor controller, the command signal; and
controlling, at the motor controller, the rotor using the command signal.
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