Patent Publication Number: US-10307667-B2

Title: Remote-control flying craft

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 14/686,335 filed Apr. 14, 2015, titled “REMOTE-CONTROL FLYING COPTER” (which issued as U.S. Pat. No. 9,682,316 on Jun. 20, 2017), which is a divisional of U.S. patent application Ser. No. 13/842,525 filed Mar. 15, 2013, titled “REMOTE-CONTROL FLYING COPTER AND METHOD” (which issued as U.S. Pat. No. 9,004,973 on Apr. 14, 2015), which claims benefit of U.S. Provisional Patent Application 61/710,665 filed Oct. 5, 2012, titled “REMOTE-CONTROL FLYING COPTER,” and claims benefit of U.S. Provisional Patent Application 61/710,671 filed Oct. 5, 2012, titled “WIRELESS COMMUNICATION SYSTEM FOR GAME PLAY WITH MULTIPLE REMOTE CONTROL FLYING CRAFT,” each of which is incorporated herein by reference in its entirety. 
    
    
     This invention is also related to prior U.S. Design Patent Application No. 29/433,939 filed Oct. 5, 2012, titled “Single-Handed Controller for a Remote Control Flying Craft” (which issued as U.S. Design Pat. No. D691,217 on Oct. 8, 2013); and to U.S. patent application Ser. No. 13/843,490, filed Mar. 15, 2013, titled “WIRELESS COMMUNICATION SYSTEM FOR GAME PLAY WITH MULTIPLE REMOTE-CONTROL FLYING CRAFT” (which issued as U.S. Pat. No. 9,011,250 on Apr. 21, 2015); each of which is incorporated herein by reference in its entirety. 
     TECHNICAL FIELD 
     The invention relates generally to the field of heavier-than-air aeronautical vehicles that are sustained in air by the force of a fluid such as air. More particularly, the present invention relates to remote-control, hovering-type flying vehicles. 
     BACKGROUND 
     Remote-control flying vehicles are becoming increasingly more popular and sophisticated. While larger craft such as military and civilian drone aircraft have been in use for only the last two decades, smaller radio-controlled flying vehicles built and flown by hobbyists have been around for much longer. Generally, remote-control flying vehicles are either fixed wing, like a plane, or hovering, like a helicopter or quadcopter. 
     One example of a smaller, hovering type craft is described in U.S. Pat. No. 7,931,239, entitled “Homeostatic Flying Hovercraft,” which teaches the use of a homeostatic hover control system in combination with a hand-held controller to cause the craft to mimic the orientation of the controller in terms of yaw, pitch, roll, and lateral flight maneuvers. Another example of a quadcopter is the Parrot AR Drone that utilizes a Wi-Fi connection between the quadcopter and a smart phone or tablet that serves as a tilt-based remote control. Still another example is the Walkera QR Lady Bird brand mini-quadcopter that is controlled via a conventional dual joystick remote control. These kinds of electronically stabilized hovercraft or quadcopter designs with three or more separate rotors are generally more stable and easier to learn to fly than the single shaft, dual counter-rotating rotor, model helicopters that may use some form of mechanical gyro stabilization. And, like the Lady Bird mini-quadcopter, these less-expensive single-shaft, dual counter-rotating rotor, model helicopters are typically controlled via a conventional dual joystick remote control. 
     A problem with current designs for these kinds of smaller, hovering remote-control flying craft is that the competing design considerations of weight, cost and performance have resulted in a very limited set of designs for how these craft are constructed. The design of the single-shaft model helicopters has the dual counter-rotating rotors on the top of the craft where they are exposed to obstacles both above and to the sides of the rotors. Running the rotors into an obstacle, like a ceiling when flying indoors, almost always causes the craft to crash and potentially suffer damage as a result. The design of most quadcopters utilizes a cross configuration formed of very stiff, carbon-fiber rods that hold the motors away from the center of the craft. Stiff carbon-fiber rods are used to minimize the torsion and vibration that occurs in a quadcopter design when the motors are not mounted in the center of gravity of the craft as is done in a single-shaft, counter-rotating helicopter design. 
     These existing designs for smaller, hovering remote-control flying craft suffer from various problems, including cost of manufacture, ease of operation, accuracy of navigation, durability, and safety during operation, among others problems. There is a need for an inexpensive, yet robust design for a smaller, hovering remote-control flying craft. 
     SUMMARY 
     Embodiments of this invention relate to a smaller, hovering flying craft adapted to be controlled by a handheld remote control having a molded frame assembly including a center body formed of a top member having at least three arms integrally molded with and extending outwardly from the center body and a bottom member having at least three legs integrally molded with and extending downwardly from the center body, at least three motor assemblies that each include an electromechanical motor and at least one corresponding propeller operably mounted downwardly-facing, with at least one motor assembly operably mounted at a distal portion of each of the at least three arms, a circuit-board assembly operably mounted to the center body and configured to control the craft in response to radio frequency signals from the handheld remote control, and a replaceable rechargeable battery insertable into a battery compartment defined by the top member and the bottom member and operably connectable to electrically power the circuit-board assembly and the at least three motor assemblies. 
     Embodiments relate to a hovering flying craft system including a hovering flying craft having a frame assembly including a center body having at least three arms extending outwardly from the center body, at least three motor assemblies that each include an electromechanical motor and at least one corresponding propeller mounted at a distal portion of each arm, a circuit-board assembly operably mounted to the center body and configured to control the craft in response to radio-frequency signals and to control an infrared emitter and an infrared receiver; and a replaceable rechargeable battery insertable into the frame assembly and operably connectable to electrically power the circuit-board assembly and the at least three motor assemblies. In embodiments, the system includes a handheld controller configured to allow a user to control the hovering flying craft by providing inputs for an intended pitch and attitude of the hovering flying craft, and a thrust and yaw of the hovering flying craft, the controller having a trigger assembly adapted to be manipulated by a finger of the user to provide the user with a control for sending commands to control at least the infrared emitter on the hovering flying craft, a control processor configured to provide control signals to a radio that generates the radio-frequency signals for communication to and control of the hovering flying craft and the infrared emitter, and a battery to electrically power the handheld controller. 
     Embodiments also relate to a system for wirelessly reprogramming a hovering flying craft and a handheld controller, the hovering flying craft adapted to be controlled by the handheld controller including a hovering flying craft including a craft processor and a craft radio, the craft radio comprising a craft radio processor, a handheld controller including a controller processor and a controller radio, the controller radio comprising a controller radio processor, a computing device including a computing device processor and computing device memory, wherein the computing device processor is configured to store craft operating code in the computing device memory, store controller operating code in the computing device memory, package the craft operating code according to the protocol of the craft radio, and package the controller operating code according to the protocol of the controller radio; and a wireless interface adapted to transmit the packaged craft operating code from the computing device to the craft radio and the packaged controller operating code from the computing device to the controller radio, wherein the craft operating code is programmed within the craft processor by the craft radio processor, and the controller operating code is programmed within the controller processor by the controller radio processor after transmission of the craft operating code and the controller operating code along the wireless interface. 
     In various embodiments, a smaller, hovering remote-control flying craft includes features to support aerial game play based on both infrared (IR) and radio frequency (RF) communications, including a pairing button, an infrared emitter and sensor configured for aerial game play, a high-intensity light-emitting diode (LED) output for indicating team selection, and a vacuum-formed shell with windows and internal reflective surfaces for enhancing the visibility of light-emitting diode (LED) output. 
     In other various embodiments, the aforementioned features can be combined in any fashion such that certain embodiments can include all, some, or even one of these features, and not others. 
     Embodiments of the smaller, hovering remote-control flying craft of the present invention are small enough to safely fly in small indoor areas, but powerful enough to fly outdoors. Due to the rugged, lightweight design and only the four motors as moving parts, the hovering remote-control flying craft of the present invention is more durable than existing designs. 
     The hovering remote-control flying craft can be controlled by a single-handed controller to be used by a user for controlling the craft, the controller comprising a controller body having an angled shape and including a flat top surface for orientation reference of the controller, a trigger projecting from the controller body adapted to interface with a forefinger of the user, a top hat projecting from the flat top surface adapted to interface with a thumb of the user; and electronics including at least one accelerometer, a processor for sampling data from the at least one gyroscope and at least one accelerometer, and a radio adapted to transmit the sampled data to the vehicle antenna(s). 
     In various embodiments, a single-handed remote controller has a reference surface on top of the controller, in combination with a top hat arrangement and a trigger button, internal components having structure for supporting and mounting one or more circuit boards and a rechargeable battery, control sequences (which, in some embodiments, are transmitted (e.g., wirelessly or otherwise) to the associated craft) for changing the associated craft from novice mode to expert mode and vice versa, a USB (universal serial bus) connection for charging the remote controller, components for the selection of a team, including synchronization of the associate craft team, light-emitting diode (LED) output identifying a team color, a selectively vibrating motor to indicate status of the associated craft (by providing a vibrating sensation that can be felt by the person holding the remote controller), and wireless pairing components, including an easy-to-use wireless pairing button. In other various embodiments, the aforementioned features can be combined in any fashion such that certain embodiments can include all, some, or even one of these features, and not others. 
     The single-handed remote controller can be tilted forward, back, left, or right, and the corresponding controlled flying vehicle responds accordingly, thereby providing total one-handed control over the vehicle. In embodiments, the controller has an ergonomic design made for the human hand. In embodiments, the same controller is comfortable and easy to use both for right-handed or left-handed pilots. Moreover, the controller exemplifies U.S. Air Force Human Factors data considerations for aircraft controls, creating a realistic and high-tech interface. 
     The above summary of the invention is not intended to describe each illustrated embodiment nor every implementation of the present invention. The figures and the detailed description that follow more particularly exemplify some of these embodiments. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The invention may be more completely understood in consideration of the following detailed description of various embodiments of the invention in connection with the accompanying drawings, in which: 
         FIG. 1  is a perspective view of a hovering remote-control flying craft  100 , according to an embodiment. 
         FIG. 2  is a side back perspective view of the smaller, hovering remote-control flying craft smaller, hovering remote-control flying craft  100  of  FIG. 1 , according to an embodiment. 
         FIG. 3  is a side front perspective view of the hovering remote-control flying craft  100  of  FIG. 1 , according to an embodiment. 
         FIG. 4  is a top plan view of the hovering remote-control flying craft  100  of  FIG. 1 , according to an embodiment. 
         FIG. 5  is a bottom plan view of the hovering remote-control flying craft  100  of  FIG. 1 , according to an embodiment. 
         FIG. 6  is an exploded side perspective view of a kit of parts for hovering remote-control flying craft  100 , according to an embodiment. 
         FIG. 7  is an exploded perspective view of a kit of parts for hovering remote-control flying craft  100 , according to an embodiment. 
         FIG. 8  is a side front view of a hovering remote-control flying craft  800 , which is equivalent to craft  100  without a safety ring, according to an embodiment. 
         FIG. 9  is a side back view of hovering remote-control flying craft  800 , according to an embodiment. 
         FIG. 10  is a top plan view of a circuit board for a hovering remote-control flying craft, according to an embodiment. 
         FIG. 11  is a bottom plan view of a circuit board for a hovering remote-control flying craft, according to an embodiment. 
         FIG. 12  is a perspective view of the circuit board for a hovering remote-control flying craft of  FIG. 10 , according to an embodiment. 
         FIG. 13  is a block diagram of the components of the circuit board of  FIG. 10 , according to an embodiment. 
         FIG. 14  is a side perspective view of a controller  1000  for a hovering remote-control flying craft, according to an embodiment. 
         FIG. 15  is a bottom plan view of controller  1000  of  FIG. 14 , according to an embodiment. 
         FIG. 16  is a top back plan view of controller  1000  of  FIG. 14 , according to an embodiment. 
         FIG. 17  is a side perspective view of controller  1000  of  FIG. 14 , according to an embodiment. 
         FIG. 18  is a right side view of controller  1000  of  FIG. 14 , according to an embodiment. 
         FIG. 19  is a top front plan view of controller  1000  of  FIG. 14 , according to an embodiment. 
         FIG. 20  is an exploded side view of controller  1000  of  FIG. 14 , according to an embodiment. 
         FIG. 21  is a block diagram of a system for reprogramming a controller and an associated hovering remote-control flying craft, according to an embodiment. 
     
    
    
     While the invention is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. 
     DETAILED DESCRIPTION 
     Although the following detailed description contains many specifics for the purpose of illustration, a person of ordinary skill in the art will appreciate that many variations and alterations to the following details are within the scope of the invention. Very narrow and specific examples are used to illustrate particular embodiments; however, the invention described in the claims is not intended to be limited to only these examples, but rather includes the full scope of the attached claims. Accordingly, the following preferred embodiments of the invention are set forth without any loss of generality to, and without imposing limitations upon the claimed invention. Further, in the following detailed description of the preferred embodiments, reference is made to the accompanying drawings that form a part hereof, and in which are shown by way of illustration specific embodiments in which the invention may be practiced. It is understood that other embodiments may be utilized and structural changes may be made without departing from the scope of the present invention. The embodiments shown in the Figures and described here may include features that are not included in all specific embodiments. A particular embodiment may include only a subset of all of the features described, or a particular embodiment may include all of the features described. 
     The leading digit(s) of reference numbers appearing in the Figures generally corresponds to the Figure number in which that component is first introduced, such that the same reference number is used throughout to refer to an identical component which appears in multiple Figures. Signals and connections may be referred to by the same reference number or label, and the actual meaning will be clear from its use in the context of the description. 
     Referring generally to  FIGS. 1-7 , according to an embodiment of the invention, a hovering remote-control flying craft  100  is depicted. Hovering remote-control flying craft  100  generally comprises a molded frame assembly  102 , an optional removable safety ring  104 , a shell  106 , a plurality of motor assemblies  108 , and a circuit-board assembly  110 . In various embodiments, the plurality of motor assemblies  108  may number greater or less than four, thereby creating a craft other than a quadcopter. The components of frame assembly  102 , removable safety ring  104 , and other components are thereby adaptable to support the defined number of motor assemblies  108  of any particular craft, but are described herein for ease of illustration as a hovering remote-control flying craft  100  having four discrete motor assemblies  108 . The intention is not to limit the invention to only the particular embodiments described. 
     Molded frame assembly  102  generally comprises a center body  112  and a plurality of arms  114  each extending from a plurality of shoulders  116  of center body  112 , thereby creating a stiff molded frame. In embodiments, molded frame assembly  102  can be made of molded polymer (commonly called plastic), including thermoplastics, thermosets, and elastomers, and optionally including fillers and/or entrapped gas bubbles or passages (to reduce weight) and/or optionally including reinforcing agents such as polymer fibers and/or glass fibers and the like. As used herein, the term “plastic” means any suitable polymer material and composites thereof. 
     Center body  112 , in an embodiment, includes structure defining an aperture or frame adapted to operably couple to circuit-board assembly  110  to secure circuit-board assembly  110  in place. As depicted in the embodiment of  FIGS. 6-7 , center body  112  can be shaped roughly like a square or other parallelogram, with cutouts or projections for circuit board assembly  110 , as will be described. It will be seen that the combination of the circuit-board assembly  110  in the structure of the center body  112  serves to add structural integrity and rigidity to the molded frame assembly  102 . 
     In some embodiments, each of shoulders  116  has a rounded portion of frame extending from a relative “corner” of center body  112  and curving distally away from center body  112 . Each of arms  114  extends therefrom further distally away from center body  112 . Each of arms  114  can include an intra-arm channel such that time and cost is saved in production by limiting production materials to those outside the channel while providing a conduit for routing of wires from the motor assemblies  108 . Arms  114  extend from shoulder  116 , and more specifically, center body  112 , to allow room for motor assemblies  108  to operate. The combination of shoulder  116  and arm  114  thereby forms a generally L-shaped structure, each extending generally orthogonal to the next adjacent combination of shoulder  116  and arm  114  from center body  112 , so that the first set of two arms  114  lie along the same axis, and the second set of two other arms  114  lie along another axis that is perpendicular to the axis of the first set of arms  114 . 
     In embodiments, molded frame assembly  102  is a two-piece assembly that can include a top member  111  forming center body  112  with at least three arms  114  integrally molded with and extending outwardly from center body  112  and a bottom member  117  having at least three legs  119  integrally molded with and extending downwardly. In an embodiment, top member  111  is formed of an injectable molded plastic having a durometer greater than 70 Shore D and bottom member  117  is formed of an injectable molded plastic having a durometer less than 60 Shore D. In some embodiments, top member  111  is formed of ABS plastic with a durometer of about 75 Shore D and bottom member  117  is formed of a low density polypropylene plastic with a durometer of about 55 Shore D. 
     In these embodiments for a molded frame assembly  102  that is a two-piece assembly, the top member  111  is stiffer than the bottom member  117  so as to provide rigidity of the arms  114  to decrease torsion and resonance vibrations that can otherwise interfere with the accelerometers and gyroscope sensors on circuit board assembly  110 , while the bottom member  117  is more flexible to enhance durability of the assembly during landings and crashes. In other embodiments, molded frame assembly  102  may be a single piece mold that may optionally have top and bottom portions with differing durometers. 
     A motor housing  118  is located at the distal end of each arm  114 . Motor housing  118  is adapted to secure the operational components of motor assemblies  108 . In an embodiment, as depicted, motor housing  118  comprises an open-ended cylinder, but can be otherwise shaped, depending on the shape of the specific motor assemblies  108 . Distally further beyond motor housing  118  along each of arms  114 , the ends of arms  114  are shaped to snap-fit with portions of removable safety ring  104  and portions of each motor assembly  108 . In an embodiment, each of these ends are angled relative to the rest of arm  114  to adapt to a corresponding projecting portion of removable safety ring  104  such that arm  114  can fit over the projecting portion of removable safety ring  104 . 
     In the prior art, the conventional carbon-fiber “X” configuration used to address vibration issues, suffers from cost and assembly issues, among others. Frame assembly  102  of some embodiments of the invention remedies these problems. The molded body of center body  112  having arms  114  extending from shoulders  116 , in combination with the solid arms  114  with an intra-arm channel instead of struts or a beam configuration as in the prior art, provides a solid base to absorb vibration, while reducing weight. In an embodiment, the use of circuit-board assembly  110  as a major structural support as operably coupled to center body  112 , as will be described, provides stiffness and strength to frame assembly  102 . 
     In an embodiment, referring to  FIGS. 6 and 7 , center body  112  further comprises a battery compartment member  120 . Corner screws  122  sandwich the circuit-board assembly  110  between battery-compartment member  120  and shoulders  116  to create the center shape. Replaceable and rechargeable battery  124  is shown in  FIG. 6  offset from the other components of frame assembly  102  for ease of viewing, and in line with the other components of frame assembly  102  in  FIG. 7 . 
     In embodiments, battery compartment member  120  is defined by the top member and bottom member of center body  112  as described above. 
     In another embodiment, frame assembly  102  is formed as a single-piece (not shown), and includes a battery-compartment member  120  and plurality of arms  114 , with the circuit-board assembly  110  operably coupled to the single-piece frame in the corners of center body  112  by screws or snap-fit. 
     In embodiments, the height of center body  112  in the vertical axis of hovering remote-control flying craft  100 , and optionally in combination with battery-compartment member  120  and corner screws  122 , provides enough clearance for the rotational components of the downward-facing motor assemblies  108 . 
     Removable safety ring  104  generally comprises an outer band  126  and a plurality of Y-arms  128 . Outer band  126 , in an embodiment, comprises a circular band of material that surrounds the components of hovering remote-control flying craft  100  with a diameter large enough so that each of the rotational components of motor assemblies  108  has room to operate. Effectively, outer band  126  provides the bounds of the footprint of the hovering remote-control flying craft  100 . Therefore, outer band  126  is configured to protect propellers of each motor assembly  108  from lateral contact. In other embodiments, outer band  126  is not perfectly circular, but is instead formed in an oblong or oval shape, or in other embodiments, has a polygon shape. In embodiments, outer band  126  can be made of plastic polymer(s), metal, or other lightweight, yet durable material. 
     Individual Y-arms  128  extend from the inner surface of outer band  126  proximate the location of arms  114 , and spaced similarly to the extension location of arms  114  away from center frame  112 , at arms  114  respective distal locations. Each of the upper extending prongs of each Y-arm  128  is operably coupled to the inner surface of outer band  126 . The stem of the Y thereby projects toward the relative center of the circle formed by outer band  126  towards center frame  112 . Each of Y-arms  128  includes a projecting portion on the stem that is adapted to interface with each of ends of arms  114  and each of motor assemblies  108 . As depicted, four Y-arms  128  extend from the inner surface of outer band  126 , but a greater or lesser number of Y-arms  128  can also be utilized to support the defined number of motor assemblies  108  of any particular vehicle. 
     A common problem exists for all aeronautical vehicles that utilize propellers, rotors, or other rotating means for propulsion. The propellers can be damaged by objects in the vehicle&#39;s flight path, and further, there is a danger to the user or others from the rotating propellers. In the prior art, myriad solutions have been tried, including the use of a conventional wire “globe” encompassing the entire craft, or a foam enclosure around each propeller. However, these solutions are aesthetically unpleasing and often hinder the craft&#39;s functionality. In embodiments of the present invention, the removable safety ring  104  provides a minimally-intrusive outer band  126  for protection. Further, the Y-arms  128  extending from the outer band  126  distribute impact forces and/or stiffen the craft. Additionally, the snap-on functionality of removable safety ring  104  allows for easy transition between operation with and without removable safety ring  104 .  FIGS. 8-9  depict a hovering remote-control flying craft  800 , which is equivalent to craft  100  without safety ring  104 , according to an embodiment. 
     Shell  106  provides an enclosure or partial enclosure that protects the components of circuit-board assembly  110 . In an embodiment, as depicted in  FIGS. 1-7 , shell  106  includes apertures formed to receive each of arms  114 . The body of shell  106  is likewise formed to receive center frame  112 . Snap-fit components or tabs interface with frame assembly  102 , and specifically, arms  114 , as illustrated in  FIG. 5 , to secure shell  106  to frame assembly  102 . Shell  106  can be made of plastic, metal, or other lightweight, yet durable material, such as a thermoplastic, and vacuum-formed into myriad shapes, as will be understood by one skilled in the art. In embodiments, shell  106  includes translucent or transparent windows for enhancing the visibility of LED output from circuit-board assembly  110 . In other embodiments, shell  106  includes reflective surfaces on the inner portions for similarly enhancing the visibility of LED output. 
     Each of the plurality of motor assemblies  108  may generally comprise a motor  130 , a propeller  132 , an optional motor cover  134 , and wiring  136 . Motor  130  can be any electromechanical device that converts electrical energy into mechanical energy. In an embodiment, as illustrated, motor  130  comprises a cylindrical structure having outer edges that are slightly smaller than the inner edges of motor housing  118 . In other embodiments, motor  130  can be any other desired structure shape. Of course, the corresponding support structures, such as motor housing  118 , Y-arm  128 , and arm  114  can also be adapted to support other motor  130  shapes. 
     Propeller  132  converts rotary motion to provide propulsive force. In an embodiment, as illustrated, propeller  132  is in a twisted airfoil shape. Other shapes are also considered, depending on the performance properties desired for the propeller  132  in terms of efficiency, thrust, attack angle and RPM. Propeller  132  can be made from plastic, metal, or other lightweight, yet durable material. In embodiments, propeller  132  can be smaller or bigger, and of different pitches. In some embodiments with four propellers  132 , two propellers are designed for clockwise rotation and two propellers are designed for counter clockwise rotation. In other embodiments (not shown) the number of thrust elements comprised of an arm, motor and one or more propellers can be any number greater than two. In other embodiments, a pair of propellers, one facing downward and one facing upward, may be used for each motor and arm combination of a thrust element. 
     In some embodiments, motor cover  134  comprises a capped cylinder such that the cylinder is open on one end and adapted to receive motor  130  and a portion of Y-arm  128  and motor housing  118 . Motor cover  134  is shaped slightly larger than motor  130 , and more particularly, motor housing  118  such that the inner edges of motor cover  134  are slightly larger than the outer edges of motor housing  118 . The motor cover  134  is adapted to be oversized or provide a structural channel to enclose and protect wiring  136  that extends from a top end of the motor  130  and are routed via the arms  114  to the center body  112 . In certain embodiments, the open end of motor cover  134  can be shaped or cut out to conform to the opposite receiving end of the respective portions of Y-arm  128  and motor housing  118 . Motor cover  134  is thus adapted to provide the snap-on fit of safety ring  104  to secure Y-arm  128  to motor housing  118  and arm  114 . In some embodiments, motor cover  134  may be a solid cylindrical cover and in other embodiments, motor cover  134  may include slots or cutout sections in either or both the side and top walls of the motor cover  134 . In other embodiments, motor housing  118  may be molded into arms  114 , or motor  130  may be secured in position to arms  113  by other mechanical arrangements. 
     Wiring  136  comprises insulated conductors adapted to carry electricity for power and/or control. Wiring  136  operably couples the power source, such as battery  124 , to motor  130  to provide the proper electrical signal to operate motor  130 , and may optionally include control signal as part of the power signals, or may include separate control wires. 
     Similar to the safety problem discussed above with respect to safety ring  104 , a common problem exists with respect to the motors  130  and propellers  132  in that they can be damaged by items in the flight path of the hovering remote-control flying craft  100 . Further, problems exist in mounting the motor, effectively wiring the motor, and having structure proximate the propeller that creates inefficient airflow. In the prior art, motors are typically mounted by a holder on an end of a carbon-fiber rod that such that the propellers are upward-facing. In embodiments of the present invention, the motor assemblies  108  are mounted downward for improved efficiency. Motor housing  118  provides an easy manufacturing guide during assembly, as well as improves the ability of frame assembly  102  to absorb shock and vibration. Motor cover  134  not only protects wiring  136  from motor  130 , but also aids in securing motor  130 , and also improves the aesthetics of hovering remote-control flying craft  100 . 
     Referring to  FIGS. 10-13 , circuit-board assembly  110  is depicted. Circuit-board assembly  110  generally comprises printed board  138  and electrical components gyroscope  140 , accelerometer  142 , magnetometer  144 , microcontroller  146 , LED  148 , infrared receiver  150 , radio  152 , infrared transmitter  154  (e.g., an infrared laser), a plurality of motor connectors  156 , and power connector  158 . 
     Printed board  138  comprises a circuit board to mechanically support and electronically connect the aforementioned electronic components. Embodiments of printed board  138  therefore comprise layers of conducting material and insulating material. In some embodiments, printed board  138  comprises a unique tabbed design. The tabs of printed board  138  mechanically support the plurality of motor connectors  156 , power connector  158 , and radio  152 , while the body of printed board  138  is left free to support the electronic components, which require relative proximity to each other due to the required electrical connections. In some embodiments, printed board  138  is operably coupleable to frame assembly  102 , and specifically, center body  112  via fasteners  122 , as shown in  FIG. 6 . In other embodiments, printed circuit board  138  is snap-fit into center body  112 . The tabbed design of printed board  138  further aids in securing printed board  138  into center body  112 . Embodiments of printed board  138  positioned and secured into center body  112  further provide structural support for the top member and bottom member of center body  112 , as previously described, as well as each of arms  114 . 
     Problems exist for printed boards of the prior art. Cost, extensive assembly time, board space limitations, and wireless-transmission design issues are all prevalent in conventional designs. Traditionally, power wiring is soldered directly to the circuit board. Further, wire-to-wire connectors are often utilized for battery connection to the circuit board, which all take up valuable space on the circuit board. In embodiments of the present invention, the printed board  138  comprises a plurality of tabs extending from the sides of the body of the printed board  138  that have plug in connectors  156  for power wires to motors  130 . Additionally, in embodiments, a printed board  138  comprises a tab extending for the surface mount power connector  158  on the bottom side of printed board  138  and a tab on the opposite end of printed board  138  for radio  152 . Such a tabbed printed board  138  design saves valuable retail space on the body of the printed board  138 , enables efficient assembly, and allows for the effective transmission of wireless data. 
     Gyro  140  comprises a sensor or set of sensors for measuring the orientation or angular position of hovering remote-control flying craft  100 . Gyro  140  comprises, in an embodiment, a 3-axis microelectromechanical (MEMS) gyro capable of measuring roll, pitch, and yaw. As illustrated, circuit-board assembly  110  comprises a single gyro  140  chip package for all three axes. In embodiments, additional gyros  140  or gyro chip packages can be utilized. 
     Accelerometer  142  comprises a sensor or set of sensors for measuring the acceleration relative to hovering remote-control flying craft  100 . In an embodiment, accelerometer  142  is used to measure Earth&#39;s gravity as a reference for the “down” vector upon which errors in gyro  140  are estimated and removed. Accelerometer  142  comprises, in an embodiment, a MEMS accelerometer. As illustrated, circuit-board assembly  110  comprises a single 3-axis accelerometer  142 . In embodiments, additional accelerometers  142  or accelerometers packages can be utilized. 
     Magnetometer  144  comprises a sensor or set of sensors for measuring the strength or direction of magnetic fields for compassing and dead reckoning of hovering remote-control flying craft  100 . Magnetometer  144 , in an embodiment, can also be used to measure the Earth&#39;s magnetic field to use as a static reference vector upon which the errors of the gyroscope  140  are estimated and removed. As illustrated, circuit-board assembly  110  comprises a single magnetometer  144 . In embodiments, additional magnetometers  144  or magnetometer packages can be utilized. 
     Microcontroller  146  comprises an integrated circuit containing a processing core and memory, and is configured to receive input and promulgate output. Specifically, microcontroller  146  is configured to control motors  130 . In an embodiment, the integrated circuit of microcontroller  146  comprises motor drivers  162  configured to interface with motors  130 . In embodiments microcontroller  146  comprises machine-executable code for navigation, filtering, and compensation algorithms, among other guidance-based algorithms incorporating gyro  140 , accelerometer  142 , and/or magnetometers  144  inputs. 
     LED  148  comprises a semiconductor light source for lighting hovering remote-control flying craft  100 . In embodiments, LED  148  is configured to illuminate in several different colors. Circuit-board assembly  110  can comprise a single LED  148 . In other embodiments, multiple LEDs  148  can be utilized. In embodiments, LED  148  is selectable in response to RF signals from a controller. 
     Infrared receiver  150  comprises a receiver of infrared signals. As illustrated, circuit-board assembly  110  comprises a single infrared receiver  150 . In embodiments, additional infrared receivers can be utilized. 
     Radio  152  comprises a radio transmitter for interfacing with other radios or devices configured to receive radio signals. In embodiments, radio  152  further comprises a radio receiver for interfacing with transmitted radio signals. As illustrated, circuit-board assembly  110  comprises a single radio  152 . In embodiments, additional radios  152  can be utilized. 
     Infrared transmitter  154  comprises a transmitter of infrared signals. As illustrated, circuit board assembly  110  comprises a single infrared transmitter  154 . In embodiments, additional infrared transmitters can be utilized. In embodiments, the functionalities of infrared receiver  150  and infrared transmitter  154  are combined into a single infrared transceiver (not shown). 
     Optionally, circuit-board assembly  110  can further comprise pairing button  155 . As illustrated, a portion of pairing button  155  extends over the bounds of printed board  138  to provide an interface for activating pairing functionality, as will be described. 
     Referring generally to  FIGS. 14-20 , an embodiment of a one-handed controller  1000  for controlling hovering remote-control flying craft  100  is illustrated. Controller  1000  generally comprises a controller body  1020 , a top hat assembly  1040 , a trigger assembly  1060 , and a circuit-board assembly  1080 . 
     Controller body  1020  generally comprises a top housing  1100  and a bottom housing  1120 . Top housing  1100  comprises a partial enclosure for the components of controller  1000  and generally includes a center wall  1140 , side walls  1160 , a top-hat aperture  1180 , and an infrared cutaway  1200 . Body  1020  or portions thereof can be made of molded plastic, including thermoplastics, thermosets, and elastomers, in embodiments. 
     In an embodiment, the lengthwise span of center wall  1140  is overall slightly curved or angled to form a pleasing tactile interface with the hand of a user as well as provide a reference indication. In embodiments, center wall  1140  comprises a plurality of sections angled relative to each other to create a slightly curved overall structure. A top surface of center wall  1140  is generally flat to provide a reference surface for the user. The flat top surface informs the user how to hold controller  1000  via the structure itself. Orientation of remote-control flying craft  100  controlled by controller  1000  relative to the flat surface is thereby expressed to the user. The opposing underneath surface can optionally comprise fastener receiving apertures adapted to assist in securing top housing  1100  and bottom housing  1120 . 
     Side walls  1160  extend from center wall  1140  in a slightly curved manner to form a relative U-shape with center wall  1140  and thereby, partial walls of the enclosing structure of body  1020 . In embodiments, the edges of side walls  1160  are slightly projected and adapted to couple to a corresponding lip aperture of bottom housing  1120 . In operation, when gripped by a user, top housing  1100 , and particularly, center wall  1140  and side walls  1160  generally interfaces with the palm of the user&#39;s hand. In embodiments, portions of center wall  1140  and/or portions of side walls  1160  can include cutaways to better conform to the hand of the user. 
     Top-hat aperture  1180  is provided within center wall  1140  and extends into portions of side walls  1160 , in embodiments, to allow top-hat assembly  1040  to project above top housing  1100  when controller  1000  is assembled, as illustrated, for example, in  FIG. 14 . Top-hat aperture  1180  is positioned in the relative “front” of top housing  1100  distal the “back” end of top housing  1100  that interfaces with the palm of the user. Top-hat aperture  1180  is large enough to allow full motion of top-hat assembly  1040 , as will be described. 
     Infrared cutaway  1200  is provided proximate top-hat aperture  1180  within center wall  1140  and extending into portions of side walls  1106 , in embodiments, to allow targeted infrared communication with other devices, for example, remote-control flying craft  100 . As illustrated, infrared cutaway  1200  is substantially X-shaped, but can be other shapes or sizes, depending on the embodiment. Further, infrared cutaway  1200  can be covered with transparent or translucent material to enable the display of light-emitting diode (LED) coloring via components of circuit-board assembly  1080 . 
     In embodiments, a pair of one hovering flying craft  100  and one handheld controller  1000  are selectively associated with each other and both craft  100  and controller  1000  of the pair each include at least one multi-color LED configured to display a common selectable color that is the same for both craft  100  and the controller  1000  and indicates a team to which the pair of the craft  100  and controller  1000  are assigned for purposes of playing multiplayer team games. 
     Bottom housing  1120  comprises the opposing structure to top housing  1100  for the enclosure of the components of controller  1000 . Bottom housing  1120  generally includes a center wall  1220 , side walls  1240 , trigger aperture  1260 , and internal supporting structure  1280 . Optionally, bottom housing  1120  can further comprise fastener apertures. 
     In an embodiment, the lengthwise span of center wall  1220  is overall slightly curved or angled to form a pleasing tactile interface with the hand of a user. In embodiments, center wall  1220  comprises a plurality of sections angled relative to each other to create a slightly curved overall structure, as illustrated in  FIG. 20 , mirroring that of top housing  1100 . 
     Side walls  1240  extend from center wall  1220  in a slightly curved manner to form a relative U-shape with center wall  1220  and thereby, partial walls of the enclosing structure of body  1020 . A receiving lip is formed along the edges of side walls  1240  of bottom housing  1120  in order to create a tight interface to top housing  1100 , and particularly, the projecting lip of side walls  1160 . When gripped by a user, bottom housing  1120  generally interfaces with the fingers of the user&#39;s hand. In embodiments, portions of center wall  1220  and/or portions of side walls  1240  can include cutaways to better conform to the hand of the user. 
     Trigger aperture  1260  is provided within center wall  1220  and extends into portions of side walls  1240  in embodiments, to allow trigger assembly  1060  to project through bottom housing  1120  when controller  1000  is assembled, as illustrated, for example, in  FIG. 14 . Trigger aperture  1260  is shaped similarly to trigger assembly  1060  but slightly larger than trigger assembly  1060 ; for example in a rectangle having rounded corners. Trigger aperture  1260  is positioned in bottom housing  1120  proximate the relative positioning of top-hat aperture  1180  in top housing  1100 , that is, near where the forefinger or trigger finger can comfortably grip trigger assembly  1060  when the user grips body  1020 . 
     Supporting structure  1280  is provided within bottom housing  1120  for supporting and mounting a circuit-board assembly  1080  and related components. Supporting structure  1280  can comprise a series of rails or an enclosed frame. As illustrated in  FIG. 20 , portions of circuit-board assembly  1080  can be slid into place, as will be described, to securely lock and position the operational electronic components. 
     Top-hat assembly  1040  generally includes a base  1320  and a top hat  1340 . Base  1320 , as illustrated, can comprise a half-dome shape. Base  1320  can be rounded or flat, but is angled such that top hat  1340  can be maneuvered around the shape of base  1320  with a full range of motion. Base  1320  is secured to portions of bottom housing  1120  proximate the relative location of top hat aperture  1180  when top housing  1100  is coupled to bottom housing  1120 . A portion of base  1320  can thereby project above the plane of top housing  1100  to allow full range of motion of top hat  1340 . 
     Top hat  1340  extends from base  1320  to provide a tactile interface for the thumb of the user to further control remote-control flying craft  100 . Top hat  1340  can comprise any number of shapes, but preferably includes a flat top surface and one or more angled side surfaces. For example, referring to  FIGS. 16-18 , top hat  1340  comprises a rounded hexagon. The flat top surface can be textured to further provide additional grip for the thumb of the user. 
     Trigger assembly  1060  generally includes finger interface  1360  and actuating structure  1380 . Finger interface  1360  comprises a generally rectangular body having a rounded crescent side for directly and comfortably contacting the finger of the user. When trigger assembly  1060  is assembled to body  1020 , finger interface  1360  projects outside of body  1020 . Actuating structure  1380  is operably coupled to finger interface  1360  and is coupled inside of body  1020 . Actuating structure  1380  provides a resilient spring-like feel to finger interface  1360 , and can be constructed via components known in the art such as mechanical components such as springs, pneumatic actuators, or electric actuators, for example. Due to the angle of trigger assembly  1060  relative to body  1020 , components of actuating structure  1380  can be coupled to top housing  1100  and/or bottom housing  1120 , in various embodiments. In various embodiments, circuit-board assembly  1080  provides a stiff backing wall for trigger assembly  1060 . 
     Circuit-board assembly  1080  generally comprises a printed board  1400  and electrical components an accelerometer (not shown), a magnetometer (not shown), a microcontroller  1420 , an LED  1440 , an infrared receiver (not shown), a radio (not shown), and an infrared transmitter (not shown). 
     Printed board  1400  comprises a board to mechanically support and electronically connect the aforementioned electronic components. Embodiments of printed board  1400  therefore comprise layers of conducting material and insulating material. Printed board  1400  comprises a unique tabbed design. The body of printed board  1400  supports the electronic components, which require relative proximity to each other due to the required electrical connections. Printed board  1400  can be operably coupled to supporting structure  1280  via fasteners. In other embodiments, printed board  1400  is snap-fit into supporting structure  1280 . 
     The accelerometer comprises a sensor or set of sensors for measuring the acceleration of controller  1000 . Accelerometer comprises, in an embodiment, a MEMS accelerometer. In an embodiment, circuit-board assembly  1080  comprises a single accelerometer. In embodiments, additional accelerometers or accelerometers packages can be utilized. 
     The magnetometer comprises a sensor or set of sensors for measuring the strength or direction of magnetic fields for compassing and dead reckoning of controller  1000 . In an embodiment, circuit board assembly  1080  comprises a single magnetometer. In embodiments, additional magnetometers or magnetometer packages can be utilized. 
     Microcontroller  1420  comprises an integrated circuit containing a processing core and memory, and is configured to receive input and promulgate output. Specifically, microcontroller  1420  is configured to sample data from the gyros and accelerometers. In an embodiment, the integrated circuit of microcontroller  1420  comprises machine-executable code for interfacing with remote-control flying craft  100  under control by controller  1000 . 
     LED  1440  comprises a semiconductor light source for lighting controller  1000 . In embodiments, LED  1440  is configured to illuminate in several different colors. Circuit-board assembly  1080  can comprise a discrete LED board, in embodiments. Further, LED  1440  can comprise a single LED  1440 . In other embodiments, multiple LEDs  1440  can be utilized. Team play can thereby be facilitated, by providing a uniform color to each controller  1000  for a particular team. 
     The infrared receiver comprises a receiver of infrared signals. In an embodiment, circuit-board assembly  1080  comprises a single infrared receiver. In embodiments, additional infrared receivers can be utilized. 
     The radio comprises a radio transmitter for interfacing with other radios or devices configured to receive radio signals. In embodiments, radio further comprises a radio receiver for interfacing with transmitted radio signals. In an embodiment, circuit-board assembly  1080  comprises a single radio. In embodiments, additional radios can be utilized. 
     The infrared transmitter comprises a transmitter of infrared signals. In an embodiment, circuit-board assembly  1080  comprises a single infrared transmitter. In embodiments, additional infrared transmitters can be utilized. In embodiments, the functionalities of the infrared receiver and the infrared transmitter are combined into a single infrared transceiver (not shown). 
     In embodiments, controller  1000  can further comprise a gyro package. The gyro package can comprise a sensor or set of sensors for measuring the orientation or angular position of controller  1000 . The gyro comprises, in an embodiment, a 3-axis microelectromechanical (MEMS) gyro capable of measuring roll, pitch, and yaw. In an embodiment, circuit-board assembly  1080  comprises a single gyro package for all three axes. In embodiments, additional gyros or gyro packages can be utilized, or no gyros can be used, in other embodiments. 
     In embodiments, controller  1000  further comprises rechargeable battery  1460  configured to power the aforementioned electrical components. In embodiments, controller  1000  further comprises a USB connection (not shown) adapted to receive a standard USB cable. The opposite end of the USB cable can be connected to a computer, wall outlet, or other power source, in order to recharge rechargeable battery  1460 . In embodiments, the USB connection further interfaces with components of circuit board assembly  1080 . 
     In embodiments, controller  1000  further comprises a vibrator motor (not shown). The vibrator motor can provide real-time feedback to the user during operation of the controlled remote-control flying craft  100 . For example, obstructions encountered by remote-control flying craft  100  can be relayed to the user via vibrations. In embodiments, warnings or status can likewise be vibrated to the user. 
     In embodiments, controller  1000  further comprises a speaker  1450 . The speaker  1450  can provide real-time feedback to the user during operation of the controlled remote-control flying craft  100 . For example, obstructions encountered by remote-control flying craft  100  can be relayed to the user via sounds and/or spoken words. In various embodiments, warnings or status can likewise be communicated to the user by sound. 
     Optionally, controller  1000  can include a pairing button  1470 . A problem exists when many RF devices are within RF range of each other. In the prior art, the devices are similarly forced to use different “channels” implemented by different radio frequencies. In additional embodiments of controller  100 , the frequency-agile radio can support “pairing” via a push button or pairing key. Myriad RF communication possibilities thus exist, and are not limited to a finite number of pre-programmed “channels.” 
     Fasteners  1480 , as depicted in  FIG. 20 , can be positioned through bottom housing  1120 , and specifically, fastener apertures, and into top housing  1100 , and specifically, fastener receiving apertures in order to operably couple top housing  1100  and bottom housing  1120  to assemble controller  1000 . 
     In embodiments, controller  1000  microcontroller comprises operation code for control sequences for changing craft from novice to expert mode. A series of signals sent from controller  1000 , for example, via top hat  1340 , can activate code inside the microcontroller to toggle modes. Novice mode provides a throttling or limiting filter on data collected from controller  1000  for implementation by remote-control flying craft  100 . In other words, any large magnitude motion or movement is scaled back as interpreted movement to remote-control flying craft  100 . In contrast, expert mode provides no filter or throttling; the user is free to operate remote-control flying craft  100  to its limits. 
     During game play, trigger assembly  1060  can be used. Specifically, the forefinger of the user can interface with finger interface  1360  and become depressed via actuating structure  1380 . In this way, shooting games such as those using air-to-air or air-to-ground targets, as well other directional transmission games such as capture the flag, elimination, domination, and tag can be implemented. 
     In embodiments of controller  1000  used for game play, the infrared transmitter and infrared receiver can be configured for aerial game play with team selection capabilities. A problem exists in selecting and maintaining teams with aerial game play where there are a plurality of players and teams. This problem is further exacerbated by the close proximity of several transmitters and receivers, which can result in jamming. In the prior art, devices on separate sides are forced to use different “channels” implemented by different IR frequencies. Such a solution provides very limited game play options. Embodiments of the present invention feature code transmission with a simple code unique to the craft&#39;s team. The craft can thereby ignore codes for other teams. Additional or multiple teams can then be easily created, resulting in much greater range of game-playing options. 
     Referring to  FIG. 21 , a system  3000  for reprogramming a controller  1000  and a remote-control flying craft  100  controlled by controller  1000  is illustrated. System  3000  comprises a computing device  3020 , a wireless interface  3040 , and of course, the aforementioned controller  1000  and remote-control flying craft  100 . 
     Computing device  3020  can include a desktop or laptop computer configured to download controller  1000  and/or remote-control flying craft  100  operating code. Computing device  3020  is further adapted to package the operating code in the protocols and messages prescribed by the controller  1000  and remote-control flying craft  100  interfaces. 
     Wireless interface  3040  comprises an interface over which operating code programming signals can be transmitted. In an embodiment, wireless interface  3040  comprises a USB dongle, as illustrated in  FIG. 21 . In other embodiments, wireless interface  3040  comprises Bluetooth, WIFI, or any other wireless transmission protocol. 
     To reprogram a controller  1000  and remote-control flying craft  100 , computing device activates wireless interface  3040 . Wireless signals are transmitted to controller  1000  and remote-control flying craft  100 , either in combination or serially, with new operational code, which is received by the corresponding antenna of each controller  1000  and remote control flying craft  100 . Wireless reprogramming can be done in this way due to the functionality of the controller  1000  radio and microcontroller. The controller  1000  radio, in embodiments, includes its own microcontroller for reset. Therefore, the radio firmware exists during reprogramming, despite the resetting of the other operational code. 
     In flight operation, the user grips, via one-handed operation, body  1020  of controller  1000 . Preferably, the user grips body  1020  approximately in the center of body  1020 , near the angle of top housing  1100  and bottom housing  1120 , with the palm of the user interfacing to top housing  1100  and the fingers of the user interfacing to bottom housing  1120 . The user&#39;s fingers can comfortably wrap around the curved sides of bottom housing  1120  to touch or slightly interface with the sides of top housing  1100 , depending on the size of the user&#39;s hand. The grip ideally is placed such that the thumb of the user comfortably reaches the center of top hat  1340 . 
     Controller  1000  is synched or paired with remote control flying craft  100  to activate remote control flying craft  100  relative to controller  1000 . The user can then motion, with one hand via controller  1000 , forward, backward, left, or right to subsequently direct remote control flying craft  100 . Thrust and yaw are controlled through top hat assembly  1040 . Specifically, top hat  1340  is directed around base  1320  by the user&#39;s thumb. Top hat  1340  is magnitude sensitive such that additional force on top hat  1340  creates additional thrust of remote control flying craft  100 . 
     Sensors within controller  1000  are sampled and this data output from controller  1000  and transmitted to hovering remote control flying craft  100  via the radio of controller  1000  and received by radio  152 . The user&#39;s operational signals are transmitted to microcontroller  146  in the form of the interface control protocol. Referring again to  FIG. 13 , gyro  140 , accelerometer  142 , and magnetometer  144  sensor readings are input into microcontroller  146 . Based on the sensed data and control instructions, microcontroller  146  can, via motor driver  162 , control the individual motors  130  in order to navigate hovering remote control flying craft  100  by mimicking the motion of controller  162 . 
     In embodiments, various predefined maneuvers for craft  100  can be implemented by special or a particular sequence of commands from controller  1000 . For example, a “flip” mode can be commanded to craft  100  by holding trigger assembly  1060  for longer than a defined period of time, while simultaneously tilting controller  1000  in the direction of the desired flip. In an embodiment, the period of time can be 1-5 seconds, for example. Code is subsequently sent by controller  1000  to craft  100  to implement the flip in the direction of the controller  1000 . 
     Other maneuvers can also be implemented; for example, a pursuit curve, oblique turn, vertical turn, displacement roll, flat scissors, rolling scissors, barrel roll, yo-yo, or lag roll. Additionally, combinations of particular maneuvers can also be implemented based on a sequence of controller  1000  commands. In an embodiment, controller  1000  can command a leftward flip followed by an oblique turn by a trigger assembly  1060  hold for 1-5 seconds with movement of controller  1000  leftward followed by a trigger assembly  1060  hold for 1-5 seconds with movement of controller  1000  downward. Myriad combinations of maneuvers are considered. 
     Further, microcontroller  146  can illuminate LEDs  148 , depending on the particular application and desire of the user; for example, during game play. Additionally, microcontroller  146  can transmit data via radio  152 . Infrared receiver  150  can input data to microcontroller  146 . Likewise, microcontroller  146  can command infrared transmitter  154  to output IR data, depending on the application. 
     In embodiments of hovering remote control flying craft  100  used for game play, infrared transmitter  154  and infrared receiver  150  can be configured for aerial game play with team selection capabilities. A problem exists in selecting and maintaining teams with aerial game play where there are a plurality of players and teams. This problem is further exacerbated by the close proximity of several transmitters and receivers, which can result in jamming. In the prior art, devices on separate sides are forced to use different “channels” implemented by different IR frequencies. Such a solution provides very limited game play options. Embodiments of the present invention feature code transmission with a simple code unique to the device&#39;s team. The device can thereby ignore codes for other teams. Additional or multiple teams can then be easily created, resulting in much greater range of game-playing options. 
     A similar problem exists when many devices are within RF range of each other. In the prior art, the devices are similarly forced to use different “channels” implemented by different radio frequencies. In additional embodiments of hovering remote control flying craft  100 , the frequency-agile radio  152  can support “pairing” via a push button or pairing key. Myriad RF communication possibilities thus exist, and are not limited to a finite number of pre-programmed “channels.” For example, referring again to  FIGS. 10 and 12 , pairing button  155  can enable this functionality. 
     In some embodiments, the present invention provides a hovering flying craft adapted to be controlled by a handheld remote control, the craft including a molded frame assembly including a center body formed of a top member having at least three arms integrally molded with and extending outwardly from the center body and a bottom member having at least three legs integrally molded with and extending downwardly from the center body; at least three motor assemblies that each include an electromechanical motor and at least one corresponding propeller operably mounted downwardly-facing, with at least one motor assembly operably mounted at a distal portion of each of the at least three arms; a circuit board assembly operably mounted to the center body and configured to control the craft in response to radio frequency signals from the handheld remote control, and a replaceable rechargeable battery insertable into a battery compartment defined by the top member and the bottom member and operably connectable to electrically power the circuit board assembly and the at least three motor assemblies. 
     In some embodiments of the craft, the circuit board assembly is positioned and secured in the center body to provide structural support for the top member and the arms of the molded frame assembly. In some embodiments, the circuit board assembly includes a printed board having a plurality of tabs that extend outwardly from a central surface structure adapted to support circuit board assembly components, including a gyroscope, an accelerometer, a magnetometer, a microcontroller, and a radio. In some embodiments, the plurality of tabs include a tab having a power connector for the rechargeable battery, a tab having a radio frequency antenna for the radio, and a tab having both an infrared emitter and an infrared receiver. 
     In some embodiments, the craft further includes at least one multi-color LED operably connected to the circuit board assembly and configured to display a selectable color in response to frequency signals from the handheld remote control. In some embodiments, the craft further includes a removable safety ring mountable to and extending from the distal portion of the arms and configured to protect the propellers from lateral contact. In some embodiments, each of the motor assemblies includes a motor cover that is configured to secure the motor to the arm by a snap fit. In some embodiments, the arms are formed of an injectable molded plastic having a durometer greater than 70 Shore D and the legs are formed of an injectable molded plastic having a durometer less than 60 Shore D. 
     In some embodiments of the craft, the center body is formed of a two-piece structure that sandwiches the circuit board assembly to provide structural support for the molded frame assembly. In some embodiments, the craft further includes a removable safety ring that protects the propellers from lateral contact and includes an outer ring supported by a plurality of Y-arms that are each adapted to correspond to and interface with a corresponding one of the at least three arms. In some embodiments, at least one of the at least three motor assemblies includes a second propeller operably mounted upwardly-facing, in addition to the at least one propeller operably mounted downwardly-facing. 
     In some embodiments, the present invention provides a hovering flying craft system or kit that includes a hovering flying craft including: a frame assembly including a center body having at least three arms extending outwardly from the center body; at least three motor assemblies that each include an electromechanical motor and at least one corresponding propeller mounted at a distal portion of each arm; a circuit board assembly operably mounted to the center body and configured to control the craft in response to radio frequency signals and to control an infrared emitter and an infrared receiver; and a replaceable rechargeable battery insertable into the frame assembly and operably connectable to electrically power the circuit board assembly and the at least three motor assemblies; and a handheld controller configured to allow a user to control the hovering flying craft by providing inputs for an intended pitch and attitude of the hovering flying craft, and a thrust and yaw of the hovering flying craft, the controller including: a trigger assembly adapted to be manipulated by a finger of the user to provide the user with a control for sending commands to control at least the infrared emitter on the hovering flying craft; a control processor configured to provide control signals to a radio that generates the radio frequency signals for communication to and control of the hovering flying craft and the infrared emitter; and a battery to electrically power the handheld controller. 
     In some embodiments of the system or kit, the handheld controller is a one-handed controller including: a controller body adapted to be gripped by a single hand of a user and manipulated in space by the user to control the hovering flying craft, the controller body including a flat top reference surface to provide the user with a visual reference for an intended pitch and attitude of the hovering flying craft; a top hat controller adapted to be manipulated by a thumb of the single hand of the user to provide the user with a control for a thrust and yaw of the hovering flying craft; and at least one sensor configured to sense motion of the controller body as manipulated in space by the user. In some embodiments, the battery is a rechargeable battery mounted within the controller body to electrically power the handheld controller. In some embodiments, a pair of one hovering flying craft and one handheld controller are selectively associated with each other and both the craft and controller of the pair each include at least one multi-color LED configured to display a common selectable color that is the same for both the craft and the controller and indicates a team to which the pair of the craft and controller are assigned for purposes of playing multiplayer team games. In some embodiments, the circuit board assembly is operably mounted to the center body by a snap fit. In some embodiments, the center body is formed of a two-piece structure that sandwiches the circuit board assembly to provide structural support for the frame assembly. 
     In some embodiments, the present invention provides a system for wirelessly reprogramming a hovering flying craft and a handheld controller, the hovering flying craft adapted to be controlled by the handheld controller, the system including a hovering flying craft including a craft processor and a craft radio, the craft radio comprising a craft radio processor; a handheld controller including a controller processor and a controller radio, the controller radio comprising a controller radio processor; a computing device including a computing device processor and computing device memory, wherein the computing device processor is configured to: store craft operating code in the computing device memory, store controller operating code in the computing device memory, package the craft operating code according to the protocol of the craft radio, and package the controller operating code according to the protocol of the controller radio; and a wireless interface adapted to transmit the packaged craft operating code from the computing device to the craft radio and the packaged controller operating code from the computing device to the controller radio, wherein the craft operating code is programmed within the craft processor by the craft radio processor, and the controller operating code is programmed within the controller processor by the controller radio processor after transmission of the craft operating code and the controller operating code along the wireless interface. 
     In some embodiments of the system, the wireless interface is provided by one of a USB dongle, Bluetooth, or WIFI. In some embodiments, the craft operating code is transmitted from the computing device to the craft radio and the controller operating code is transmitted from the computing device to the controller radio serially or at an overlapping time. 
     In some embodiments, the present invention provides a hovering flying craft adapted to be controlled by a handheld remote control, the craft including a molded frame assembly including a plurality of arms extending from a center body; a plurality of downward-facing motor assemblies, each including a motor, a propeller, and a motor cover, and located at the interface of each of the arms and the Y-arms extending therefrom, the motor cover configured to snap-fit secure an individual Y-arm and an individual arm; and a tabbed circuit board assembly operably coupleable to the center body and configured to control the plurality motor assemblies based on radio frequency signals from the handheld remote control. 
     In some embodiments of the craft, the center body is formed of a two-piece structure that sandwiches the circuit board assembly to provide structural support for the molded frame assembly. In some embodiments, the circuit board assembly includes a plurality of tabs that are adapted to support mounting of wire connectors, and provide surface structure on which a radio frequency antenna is constructed and emitters for both an infrared emitter and an infrared receiver. In some embodiments, the craft further includes a removable safety ring that protects the propellers from lateral contact and includes an outer ring supported by a plurality of Y-arms that are each adapted to correspond to and interface with a corresponding one of the plurality of arms. 
     In some embodiments, the present invention provides a method that includes providing a molded frame assembly including a plurality of arms extending from a center body; locating a plurality of downward-facing motor assemblies, each including a motor and a propeller and a motor cover, at an interface of each of the arms and Y-arms extending therefrom, the motor cover configured to snap-fit secure an individual Y-arm and an individual arm; and a tabbed circuit board assembly operably coupleable to the center body and configured to control the plurality motor assemblies based on radio frequency signals from the handheld remote control. 
     Various embodiments of systems, devices and methods have been described herein. These embodiments are given only by way of example and are not intended to limit the scope of the invention. It should be appreciated, moreover, that the various features of the embodiments that have been described may be combined in various ways to produce numerous additional embodiments. Moreover, while various materials, dimensions, shapes, configurations and locations, etc. have been described for use with disclosed embodiments, others besides those disclosed may be utilized without exceeding the scope of the invention. 
     Persons of ordinary skill in the relevant arts will recognize that the invention may comprise fewer features than illustrated in any individual embodiment described above. The embodiments described herein are not meant to be an exhaustive presentation of the ways in which the various features of the invention may be formed or combined. Accordingly, the embodiments are not mutually exclusive combinations of features; rather, the invention may comprise a combination of different individual features selected from different individual embodiments, as understood by persons of ordinary skill in the art. 
     The entire content of each and all patents, patent applications, articles and additional references, mentioned herein, are respectively incorporated herein by reference. 
     The art described is not intended to constitute an admission that any patent, publication or other information referred to herein is “prior art” with respect to this invention, unless specifically designated as such. In addition, any description of the art should not be construed to mean that a search has been made or that no other pertinent information as defined in 37 C.F.R. § 1.56(a) exists. 
     Any incorporation by reference of documents above is limited such that no subject matter is incorporated that is contrary to the explicit disclosure herein. Any incorporation by reference of documents above is further limited such that no claims included in the documents are incorporated by reference herein. Any incorporation by reference of documents above is yet further limited such that any definitions provided in the documents are not incorporated by reference herein unless expressly included herein. 
     It is to be understood that the above description is intended to be illustrative, and not restrictive. Although numerous characteristics and advantages of various embodiments as described herein have been set forth in the foregoing description, together with details of the structure and function of various embodiments, many other embodiments and changes to details will be apparent to those of skill in the art upon reviewing the above description. The scope of the invention should be, therefore, determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. In the appended claims, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein,” respectively. Moreover, the terms “first,” “second,” and “third,” etc., are used merely as labels, and are not intended to impose numerical requirements on their objects.