US 12,130,619 B2
Radio controlled aircraft, remote controller and methods for use therewith
Katherine C. Stuckman, Menlo Park, CA (US); and Michael D. Reynolds, Cedar Park, TX (US)
Assigned to Drone-Control, LLC, Austin, TX (US)
Filed by Drone-Control, LLC, Austin, TX (US)
Filed on Feb. 8, 2022, as Appl. No. 17/666,698.
Application 13/471,642 is a division of application No. 12/029,470, filed on Feb. 12, 2008, granted, now 8,200,375, issued on Jun. 12, 2012.
Application 17/666,698 is a continuation of application No. 16/229,994, filed on Dec. 21, 2018, granted, now 11,281,205.
Application 16/229,994 is a continuation of application No. 15/392,687, filed on Dec. 28, 2016, granted, now 10,248,117, issued on Apr. 2, 2019.
Application 15/392,687 is a continuation of application No. 14/724,037, filed on May 28, 2015, granted, now 9,568,913, issued on Feb. 14, 2017.
Application 14/724,037 is a continuation of application No. 14/102,995, filed on Dec. 11, 2013, granted, now 9,079,116, issued on Jul. 14, 2015.
Application 14/102,995 is a continuation of application No. 13/688,886, filed on Nov. 29, 2012, granted, now 8,649,918, issued on Feb. 11, 2014.
Application 13/688,886 is a continuation of application No. 13/471,642, filed on May 15, 2012, granted, now 8,380,368, issued on Feb. 19, 2013.
Prior Publication US 2022/0163962 A1, May 26, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); A63H 27/00 (2006.01); A63H 30/04 (2006.01); A63H 31/10 (2006.01); B64C 19/00 (2006.01); B64C 27/57 (2006.01); B64C 39/02 (2023.01); B64U 10/10 (2023.01)
CPC G05D 1/0022 (2013.01) [A63H 27/004 (2013.01); A63H 27/02 (2013.01); A63H 27/12 (2013.01); A63H 30/04 (2013.01); A63H 31/10 (2013.01); B64C 19/00 (2013.01); B64C 27/57 (2013.01); B64C 39/024 (2013.01); G05D 1/0033 (2013.01); G05D 1/0202 (2013.01); G05D 1/0808 (2013.01); B64U 10/10 (2023.01); B64U 2201/20 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A radio controlled (RC) vehicle comprising:
a receiver configured to receive a radio frequency (RF) signal from a remote control device, the RF signal indicating command data in accordance with a first coordinate system, wherein the command data indicates a lift command associated with a hovering state of the RC vehicle, wherein the command data includes roll-axis command data and pitch-axis command data, wherein the command data includes yaw-axis command data, and wherein the first coordinate system is from a perspective of the remote control device;
motion sensors configured to generate motion data, wherein the motion data indicates a position of the RC vehicle and an orientation of the RC vehicle, wherein the orientation of the RC vehicle is a yaw-axis orientation from the perspective of an imaginary pilot of the RC vehicle, wherein the motion sensors include a first motion sensor and a second motion sensor, wherein the first motion sensor includes an accelerometer, and wherein the second motion sensor includes a gyroscope;
a processor coupled to the motion sensors and to the receiver, the processor configured to transform the command data into control data based on the motion data and in accordance with a second coordinate system, wherein the second coordinate system is from a perspective of the RC vehicle, wherein the control data includes roll-axis control data and pitch-axis control data, wherein the roll-axis control data is generated based on the roll-axis command data and the pitch-axis command data, wherein the pitch-axis control data is generated based on the roll-axis command data and the pitch-axis command data, wherein the control data includes yaw-axis control data, and wherein the yaw-axis control data is related to the yaw-axis command data; and
control devices coupled to the processor, the control devices configured to control motion of the RC vehicle based on the control data, wherein the control devices are configured to cause the RC vehicle to enter the hovering state in response to the receiver receiving the command data that indicates the lift command.