Patent ID: 8249761

Claim:
A method performed by a calculating circuit for calculating a flight path avoiding a collision with the ground when an aircraft dives towards the ground, the method comprising: receiving signals comprising information of a dive angle of the aircraft in relation to an imaginary ground plane, and a present roll angle of the aircraft, and calculating a recovery flight path that avoids collision with the ground based on said information, the calculating comprising calculating a need for rolling the aircraft based on the present roll angle, and calculating a need for a change in a direction of a velocity vector of the aircraft so that the change has a component in an upward direction in relation to a reference frame of the aircraft, wherein the calculating of the need for rolling the aircraft is also based on the dive angle so that the calculated flight path turns sideways when the dive angle surpasses a specified dive angle and when the present roll angle is larger than zero degrees, and so that the flight path continues in a forward direction when the dive angle is below said specified dive angle.