Patent ID: 11964756
Assignee: AERHART, LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 10:
11. The aeronautical apparatus of claim 8, further comprising:
an electronic control unit (ECU) in electronic communication with: the first, second, third and fourth thrust-angle motors and the first, second, third and fourth propeller motors wherein:
the ECU determines desired first, second, third, and fourth thrust-angle positions for the first, second, third, and fourth thrust-angle motors, respectively, based at least on a desired trajectory; and
the ECU commands the first, second, third, and fourth thrust-angle motors to attain their respective desired thrust-angle positions;
the ECU determines desired first, second, third, and fourth propeller speeds based at least on the desired trajectory; and
the ECU commands the first, second, third, and fourth propeller motors to attain the desired first, second, third, and fourth propeller speeds, respectively.