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

Claim 0:
1. A method implemented by an unmanned aerial vehicle (UAV) comprising one or more processors, the method comprising:
receiving, by a source determination system included in the UAV and from a first control source that provides modular commands to the UAV, one or more first modular commands associated with performance by the UAV of one or more actions related to a flight plan for the UAV;
receiving, by the source determination system included in the UAV and from a second control source that provides modular commands to the UAV, one or more second modular commands associated with performance by the UAV of one or more actions for enforcing an approved geofence in connection with the flight plan;
filtering, by the source determination system, the one or more received first and second modular commands, thereby discarding from implementation by the UAV one or more of the received first or second modular commands, wherein filtering comprises:
receiving, from the first control source, repeated instances of the same modular command;
determining a number of repeated instances of the same modular command that have 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, during implementation of a non-discarded first modular command under control of the first control source, that the UAV has moved outside of the approved geofence;
based on the determination that the UAV has moved outside of the approved geofence, transferring control of the UAV to the second control source to implement a non-discarded second modular command for returning the UAV to within the approved geofence; and
based on the UAV returning to within the approved geofence, transferring control of the UAV to the first control source to continue implementing the non-discarded first modular command.