Patent ID: 11899447
Assignee: GOPRO, INC.
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 0:
1. An unmanned aerial vehicle, comprising:
one or more sensors configured to detect environmental data;
a communication system configured to receive control inputs;
one or more actuators configured to control the aerial vehicle;
an angle controller;
a rate controller;
a camera; and
a memory storing instructions which, when executed by the angle controller, cause the angle controller to:
determine a mode of the unmanned aerial vehicle based on the environmental data and the control inputs,
generate one or more gain values based on the determined mode and a scaling function, the scaling function comprising a first function as a previous scaling function output plus a second function as a combination of feedback from the rate controller regarding a thrust vector and additional feedback including feedback from the one or more sensors, and
generate a rate set point signal modified by the one or more gain values.