Patent ID: 11912426
Assignee: KITTY HAWK CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  G  Y | IPC B

Claim 6:
7. A method, comprising:
generating thrust values for a plurality of motors in an aircraft, wherein each flight controller in a plurality of flight controllers generates a complete set of thrust values that includes a thrust value for each motor in the plurality of motors using an optimization problem with a single solution, wherein the plurality of flight controllers include a first flight controller and a second flight controller, wherein the plurality of motors includes a first motor and a second motor, and wherein the complete set of thrust values includes a first thrust value and a second thrust value;
from each flight controller in the plurality of flight controllers, passing only one of the generated thrust values in that flight controller's complete set of thrust values to a corresponding motor in the plurality of motors in the event the one of the generated thrust values for the corresponding motor and the thrust values for the corresponding motor generated by the other flight controllers of the plurality of flight controllers are within a tolerance amount, wherein the first flight controller passes the first thrust value associated with the first flight controller to the first motor and does not pass the second thrust value associated with the first flight controller to the first motor, wherein the second flight controller passes the second thrust value associated with the second flight controller to the second motor and does not pass the first thrust value associated with the second flight controller to the second motor, and wherein other generated thrust values in that flight controller's complete set of thrust values that are not passed to the corresponding motor terminate at that flight controller; and
performing the passed thrust values using the plurality of motors.