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

Claim 18:
19. A method, comprising:
receiving environmental data from one or more sensors of an unmanned aerial vehicle;
receiving a control input from a user associated with the unmanned aerial vehicle via a communication system;
determining a mode of the unmanned aerial vehicle based on the environmental data and the control input;
generating one or more gain values based on the mode and a scaling function that comprises a first function as a previous scaling function output plus a second function as a combination of rate controller feedback regarding a thrust vector and feedback from the one or more sensors;
generating a rate set point signal modified by the one or more gain values; and
actuating one or more actuators based upon the rate set point signal to control the unmanned aerial vehicle.