Patent ID: 7364121

Claim:
A method for controlling an aircraft, comprising: receiving an indication of a target takeoff roll path for an aircraft; automatically controlling a direction of the aircraft while the aircraft is on a takeoff roll to at least approximately follow the target takeoff roll path; and automatically controlling the direction of the aircraft as the aircraft leaves the ground, wherein automatically controlling the direction of the aircraft includes: determining a lateral deviation distance from the target path; determining a lateral acceleration; filtering the lateral deviation with the lateral acceleration to produce a filtered lateral deviation; filtering the lateral acceleration with the lateral deviation to produce a filtered lateral deviation rate; determining a commanded lateral position and commanded lateral position rate based on the complementary filtered lateral deviation and complementary filtered lateral deviation rate; based on the commanded lateral position, the filtered lateral deviation, the commanded lateral position rate and the filtered lateral deviation rate, determining a first commanded angular position; based on the first commanded angular position, a sensed yaw rate, and a commanded lateral acceleration, determining a second commanded angular position; and directing a rudder and landing gear of the aircraft to move in a manner that directs the aircraft to the second commanded angular position.