In one embodiment, a method is performed by a control computer. The method includes receiving a time series of control inputs in relation to a control axis of an aircraft, where the control computer causes actuation in response to each control input in the time series as the control input is received. The method also includes determining aircraft oscillation over a sample period corresponding to the time series. The method also includes evaluating information related to the determined aircraft oscillation using engagement settings associated with a control filter. The method also includes engaging the control filter responsive to the information satisfying the engagement settings, where the engaged control filter systematically attenuates future control inputs in relation to the control axis prior to actuation responsive thereto.

A computer-implemented method and system for controlling an aircraft based on detecting control element damage is disclosed. According to one example, a computer-implemented method includes detecting, by a processing system, damage to a control element of the aircraft. The method further includes characterizing, by the processing system, the damage to determine a corrective action to take based at least in part on the detected damage. The method further includes controlling, by the processing system, the aircraft based at least in part on the corrective action.

Flight control systems, flight control laws, and aircraft are provided. An flight control system includes an input configured to receive a pitch rate command, a processor operative to receive the pitch angle command, to calculate a pitch angle saturation limit, to compare the sum of the pitch rate command, the scaled pitch rate, and the scaled pitch angle to the pitch angle saturation limit, to convert the pitch rate command system to the pitch angle command system in response to the sum exceeding the pitch angle saturation limit value to limit the pilot pitch-up pitch rate command, and to couple the pitch rate command to an aircraft control surface for the failure case of one of control surface, and the aircraft control surface configured to adjust an aircraft control surface setting in response to the pitch rate command and/or pitch angle command to protect an aircraft from being in stall condition.

A system and method to modify a qualified actuator command with an unqualified actuator command modifier. The method includes creating a modified actuator command as the difference between the qualified actuator command and the unqualified actuator command and thereafter limiting the modified actuator command with an authority limiter. The system includes a qualified computer having an unqualified control law interfaced with an unqualified computer having a qualified control law.

A system for flight control of an electric vertical takeoff and landing (eVTOL) aircraft. The system generally includes a pilot control, a pusher component, a lift component and a flight controller. The pilot control is mechanically coupled to the eVTOL aircraft. The pilot control is configured to transmit an input datum. The pusher component is mechanically coupled to the eVTOL aircraft. The lift component is mechanically coupled to the eVTOL aircraft. The flight controller is communicatively connected to the pilot control. The flight controller is configured to receive the input datum from the pilot control, initiate operation of the pusher component, and terminate operation of the lift component. A method for flight control of an eVTOL aircraft is also provided.

A method for determining a maneuvering reserve in an aircraft having a number of propulsion units, preferably a multirotor VTOL aircraft, most preferably an aircraft with electrically operated drive units for the rotors, including the steps: a) Determining a control vector, ?, for the aircraft, ?=(L M N F).sup.T, the components of which represent control torques of the aircraft around the roll axis, L, the pitch axis, M, and the yaw axis, N, and a total thrust, F, b) Approximating an existing four-dimensional control volume, D, of the aircraft by a four-dimensional ellipsoid, E, the axes of which represent the control torques, L, M, N, of the aircraft and the total thrust, F, c) Determining a normalized control vector, ?.sub.ind=(L.sub.ind M.sub.ind N.sub.ind F.sub.ind).sup.T for the aircraft, using axis dimensions, L.sub.max, M.sub.max, N.sub.max, F.sub.max, of the ellipsoid, in particular semi-axis dimensions of the ellipsoid; and d) Outputting at least the normalized control vector, ?.sub.ind, for determining a permissible flight maneuver in at least one dimension of the four-dimensional control volume.

In an example, method of controlling thrust produced by a plurality of engines on an aircraft for assisting with nose-down recovery of the aircraft is described. The method includes selecting a maximum value of an aircraft parameter, measuring a value of the aircraft parameter while the aircraft is in flight, based on a comparison of the maximum value and the measured value determining that the measured value exceeds the maximum value, and reducing a thrust produced by each of the engines of the plurality of engines to bring the measured value of the aircraft parameter below the maximum value of the aircraft parameter.

A value for an aircraft movement limit is received where the aircraft movement limit is associated with a manned aircraft. The aircraft movement limit is automatically set to the value. A pilot instruction is received and a control signal for the aircraft is generated using the pilot instruction and the aircraft movement limit.

An unmanned aircraft includes a forward propulsion system comprising one or more forward thrust engines and one or more corresponding rotors coupled to the forward thrust engines; a vertical propulsion system comprising one or more vertical thrust engines and one or more corresponding rotors coupled to the vertical thrust engines; a plurality of sensors; and a yaw control system, that includes a processor configured to monitor one or more aircraft parameters received from at least one of the plurality of sensors and to enter a free yaw control mode based on the received aircraft parameters.

An aerial vehicle and system for automatically detecting an object (e.g., human, pet, or other animal) approaching the aerial vehicle is described. When an approaching object is detected by an object detection component, a safety profile may be executed to reduce or avoid any potential harm to the object and/or the aerial vehicle. For example, if the object is detected entering a safety perimeter of the aerial vehicle, the rotation of a propeller closest to the object may be stopped to avoid harming the object and rotations of remaining propellers may be modified to maintain control and flight of the aerial vehicle.