Patent ID: 11874656
Assignee: SKYDIO, INC.
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 10:
11. Non-transitory computer storage media storing instructions, that when executed by an unmanned aerial vehicle (UAV) comprising one or more processors, cause the UAV to perform operations comprising:
receiving one or more first modular commands associated with performance of one or more first actions by the UAV from a first control source within the UAV;
receiving one or more second modular commands associated with performance of one or more second actions by the UAV from a second control source within the UAV, the second actions corresponding to enforcing an approved geofence for the UAV;
discarding a subset of the one or more first modular commands and the one or more second modular commands, wherein discarding comprises:
receiving, from the first control source, repeated instances of the same modular command;
determining a number of repeated instances that the same modular command has been received; and
discarding some of the repeated instances of the same modular command if the number of instances of the repeated modular command exceeds a threshold value;

determining, while the UAV is under control of the first control source, that the UAV has moved outside of the approved geofence;
based on the UAV moving outside of the approved geofence, transferring control of the UAV to the second control source for returning the UAV to within the approved geofence; and
based on the UAV returning to within the approved geofence, returning control of the UAV to the first control source.