Thrust values for motors in an aircraft are generated where each flight controller in a plurality of flight controllers generates a thrust value for each motor in a plurality of motors using an optimization problem with a single solution. Each flight controller in the plurality of flight controllers passes one of the generated thrust values to a corresponding motor in the plurality of motors, where other generated thrust values for that flight controller terminate at that flight controller. The plurality of motors perform the passed thrust values.

Embodiments relate to an aircraft control and interface system configured to adaptively control an aircraft according to different flight states by modifying one or more processing control loops. The system receives sensor data from one or more sensors of the aircraft. The system determines, from the sensor data, a component of the aircraft is compromised. The system determines the aircraft is in a degraded flight state due to the compromised component. The system operates the aircraft according to the degraded flight state, wherein operating the aircraft according to the degraded flight state includes: (a) modifying one or more processing loops based on the degraded flight state and (b) generating an actuator command by applying the degraded flight state and a signal based on an input from a vehicle control interface to the modified one or more processing loops.

A method and system for providing corrective action to a rotorcraft experiencing motor failure is provided. Included in the method and system are embodiments that receive feedback from sensors directed at measuring a state of motors used to provide lift to the rotorcraft. The method and system also describe embodiments for determining that there is a malfunctioning motor, and furthermore, the appropriate corrective action for responding to the malfunctioning motor. In some embodiments, the method and system are configured to reduce power to the malfunctioning motor while simultaneously adjusting power supplied to the remaining motors such that changes in total thrust and net torque are minimized. Further, the method and system are configured to perform diagnostics on the malfunctioning motor while power is still being supplied to the first motor.

A method, preferably including: sampling inputs, determining aircraft conditions, and/or acting based on the aircraft conditions. A method, preferably including: sampling inputs, determining input reliability, determining guidance, and/or controlling aircraft operation. A method, preferably including: operating the vehicle, planning for contingencies, detecting undesired flight conditions, and/or reacting to undesired flight conditions. A system, preferably an aircraft such as a rotorcraft, configured to implement the method.

An aerial vehicle, comprising: one or more motors, one or more sensors, and a flight sub-system. The one or more sensors configured to detect data. The flight sub-system includes an attitude controller module; a rate controller module; and a compensator module. The compensator module is configured to: determine a maximum RPM of the one or more motors or a maximum torque of the one or more motors; receive a torque vector from the rate controller module; determine a rotational speed of the one or more motors to generate a desired flight orientation based upon the torque vector; and consider sensor data from the one or more sensors to adjust the rotational speed of the one or more motors.

An aircraft system of an aircraft may, while the aircraft is flying in a first flight mode, receive data from one or more sensors of the aircraft and, based on received data from one or more sensors, identify an actuation failure of an actuator of a flight control surface. The vehicle system may, subsequent to identifying the actuation failure of the actuator of the flight control surface, control the aircraft to fly in a modified flight mode. Controlling the aircraft to fly in the modified flight mode may include: determining a directional bias caused by the actuation failure, determining a modified flight plan based on the determined directional bias, and controlling the aircraft to fly based on the modified flight plan and the directional bias.

A controller for an aerial vehicle, the aerial vehicle comprising a fuselage, fixed wings, and a multi-rotor assembly, the fixed wings disposed on both sides of the fuselage, and the multi-rotor assembly comprising at least two rotors disposed on either the fuselage or the fixed wings. The controller may comprise at least one memory storing at least one instruction set configured to control the vehicle, and at least one processor, communicatively coupled to the at least one memory. When the aerial vehicle operates, the at least one processor executes the at least one instruction set to, during cruise of the aerial vehicle, control at least a portion of the rotors of the multi-rotor assembly to actively rotate to provide a force in a vertical direction so that the multi-rotor assembly and the fixed wings together provide lift for the aerial vehicle.

A method, preferably including: sampling inputs, determining aircraft conditions, and/or acting based on the aircraft conditions. A method, preferably including: sampling inputs, determining input reliability, determining guidance, and/or controlling aircraft operation. A method, preferably including: operating the vehicle, planning for contingencies, detecting undesired flight conditions, and/or reacting to undesired flight conditions. A system, preferably an aircraft such as a rotorcraft, configured implement the method.

A hybrid-electric propulsion system includes a propulsor, a turbomachine, and an electrical system having an electric machine coupled to the turbomachine. A method for operating the propulsion system includes operating, by one or more computing devices, the turbomachine to rotate the propulsor and generate thrust for the aircraft; receiving, by the one or more computing devices, data indicative of an un-commanded loss of the thrust generated from the turbomachine rotating the propulsor; and providing, by the one or more computing devices, electrical power to the electric machine to add power to the turbomachine, the propulsor, or both in response to receiving the data indicative of the un-commanded loss of thrust.

An aerial vehicle according to an embodiment of the present technology includes a recording unit, a detection unit, and a reproduction unit. The recording unit records a flight parameter during flight in a state in which no sensor abnormality is detected. The detection unit detects the sensor abnormality. The reproduction unit reproduces the flight parameter on the basis of the sensor abnormality detected by the detection unit.