Patent ID: 7195200

Claim:
An unmanned helicopter for making a flight autonomously, the unmanned helicopter comprising: altitude control device for giving a command of a collective pitch blade angle based on the deviation between a fed-back altitude and an altitude command and the deviation between a fed-back climb rate and a climb rate command; position control device for performing position control based on the deviation between a fed-back position and a position command with respect to a horizontal position and the deviation between fed-back speed and a speed command; attitude control device for performing attitude control of an airframe based on the deviation between a fed-back attitude angle and an attitude angle command; and takeoff device, upon reception of a takeoff start command from the ground, for causing the airframe to take off and climbing the airframe to a first altitude while increasing the collective pitch blade angle without performing the altitude control of the altitude control device and then causing the altitude control device to start the altitude control.