Abstract: A method for emulating control signals for controlling an unmanned aerial vehicle (UAV). The method comprises using an integrated circuit installed on the UAV and communicatively coupled to a flight control processor and a companion processor for receiving flight control parameters from the companion processor, the flight control parameters are based data from a plurality of sensors communicatively coupled to the companion processor and mounted on the UAV, wirelessly receiving remote control signals from a remote control unit, modulating the flight control parameters to create emulated signals emulating a signals generated by a remote control designated to wirelessly control the UAV, the emulated signals encode instructions to maneuver the UAV, and switching between the remote control signals and the emulated signals during a flight time of the UAV.