Hand controls for an aircraft, including a single axis hand control which is configured to control movement of an aircraft along a vertical axis where the aircraft includes a plurality of rotors that are attached to the aircraft at a fixed position and the plurality of rotors rotate independently of one another. The hand controls further include a three axis hand control which is configured to control movement of the aircraft within a plane defined by a roll axis and a pitch axis, as well as about a yaw axis.

A machine and process for control of rotation of a vehicle about an axis of the vehicle is shown. A flight control system includes control laws that control the rotation of the vehicle around the axis of the vehicle. An estimate is derived for an inertia about the axis. The estimated inertia is derived from sensed quantities of material in a component of the vehicle. An inertia gain schedule and filter are added to enhance, using the estimated inertia, the accuracy of the control laws that control the rotation of the vehicle around the axis of the vehicle.

Hand controls for an aircraft, including a single axis hand control which is configured to control movement of an aircraft along a vertical axis where the aircraft includes a plurality of rotors that are attached to the aircraft at a fixed position and the plurality of rotors rotate independently of one another. The hand controls further include a three axis hand control which is configured to control movement of the aircraft within a plane defined by a roll axis and a pitch axis, as well as about a yaw axis.

A method for flight control of an aircraft with multiple actuators during flight is disclosed. For each actuator, a control command is computed according to at least one predetermined control law and based on pilot inputs and sensor measurements in relation to a physical state of the aircraft. The respective control commands are provided to the actuators. The control commands are independently monitored by estimating or measuring a current physical state of the aircraft and comparing it with the control commands. This comparison includes checking whether the control commands stabilize the aircraft in a stable state in the absence of both disturbances and pilot inputs according to at least one predefined criterion. If the monitoring indicates a lack of stability, transmission of the control commands is prevented and a backup control command is computed for each actuator.

A method for flight control of an aircraft with multiple actuators during flight is disclosed. For each actuator, a control command is computed according to at least one predetermined control law and based on pilot inputs and sensor measurements in relation to a physical state of the aircraft. The respective control commands are provided to the actuators. The control commands are independently monitored by estimating or measuring a current physical state of the aircraft and comparing it with the control commands. This comparison includes checking whether the control commands stabilize the aircraft in a stable state in the absence of both disturbances and pilot inputs according to at least one predefined criterion. If the monitoring indicates a lack of stability, transmission of the control commands is prevented and a backup control command is computed for each actuator.

Disclosed is a flight control system for a VTOL aircraft comprising a first and a second manual control apparatus for inputting control commands by an operator, a flight control computer, which is connected to the first and second manual control apparatuses and configured to output flight control instructions based on pivot positions of the first and second stick members with respect to the first to fourth control axes, wherein the flight control computer is adapted to derive and output flight control instructions, while at least partially eliminating cross-coupling between the individual directions of motion for longitudinal motion control based on the pivot position of the first stick member with respect to the first control axis.

Disclosed is a flight control system for a VTOL aircraft comprising a first and a second manual control apparatus for inputting control commands by an operator, a flight control computer, which is connected to the first and second manual control apparatuses and configured to output flight control instructions based on pivot positions of the first and second stick members with respect to the first to fourth control axes, wherein the flight control computer is adapted to derive and output flight control instructions, while at least partially eliminating cross-coupling between the individual directions of motion for longitudinal motion control based on the pivot position of the first stick member with respect to the first control axis.

A robust control method for an oblique flying wing aircraft includes computing an angular velocity error between a reference angular velocity and an actual angular velocity and computing a moment command with an angular velocity controller based at least in part on the angular velocity error. The angular velocity controller decouples two or more of a yaw rate axis, a pitch rate axis, and a roll rate axis of the asymmetric aircraft for the moment command.

A robust control method for an oblique flying wing aircraft includes computing an angular velocity error between a reference angular velocity and an actual angular velocity and computing a moment command with an angular velocity controller based at least in part on the angular velocity error. The angular velocity controller decouples two or more of a yaw rate axis, a pitch rate axis, and a roll rate axis of the asymmetric aircraft for the moment command.

A system for controlling weight distribution of a remotely piloted aircraft is described. The system comprises a payload weighing platform, a control unit, and a counterweight gantry system. The payload weighing platform is configured to be positioned within the aircraft and receive the payload. The control unit is configured to: receive payload sensor data from the payload weighing platform; determine payload weight and payload center of mass; determine a target position for each of at least one counterweight, the target position determined to control a center of gravity of the aircraft by controlling the weight distribution of the aircraft; and provide a counterweight position signal to the counterweight gantry system. The counterweight gantry system is attached to the aircraft and is configured to move each of the at least one counterweight to corresponding target position in response to receiving the counterweight position signal.