Patent Document ID: 10012999
Application ID: 14991846
Patent Status: 1

Claim One:
1. A controller for a rotary wing unmanned aerial vehicle having a plurality of rotary motors, the controller comprising: a processing unit and memory including code, which when executed controls the processing unit to: determine at least one parameter associated with force on the aerial vehicle as the controller controls the plurality of rotary motors to propel the aerial vehicle to move in a direction along a path; determine a setting for a yaw of the aerial vehicle based on the at least one parameter, wherein the yaw defines an angle between an axis running from a first portion to a second portion of the aerial vehicle and the direction of movement of the aerial vehicle along the path, wherein the first portion is a leading edge of movement of the aerial vehicle along the path; and set the yaw of the aerial vehicle based on the determined setting for the yaw, wherein the aerial vehicle is positioned according to the angle defined by the yaw by controlling the relative speeds of each of the plurality of rotary motors as the plurality of rotary motors propel the aerial vehicle to move in the direction along the path, wherein the setting of the yaw of the aerial vehicle is determined based on a force parameter such that air drag is used to advantageously assist moving the aerial vehicle along the path or inhibit moving the aerial vehicle along the path.