Abstract: The unmanned aerial vehicle, UAV, has a fuselage (1) with at least one rotating shaft (2) and one wing (3) positioned on the rotating shaft (2), protruding from either side of the fuselage (1). Preferably, the UAV has at least one rotor propeller (4) arranged on each rotating shaft (2), on either side of the fuselage (1), with one or more rotor blades (4a) and a housing (4b), which includes an actuator. The UAV is capable of shifting between a first flight mode using rotatable wings that rotate freely around the rotating shaft (2) only due to a direction and strength of wind impinging against a surface of the wings (3) and a downstream flow generated by the rotor propellers (4), and a second flight mode using fixed wings, kept in a predetermined position by a wing-locking mechanism, preferably a substantially horizontal position.

Abstract: Sensor data is received from an inertial measurement unit on a vehicle. An observed attitude and an observed attitude rate of the vehicle are determined based on the sensor data. Using a model associated with a vehicle failure mode, an expected attitude and an expected attitude rate of the vehicle are determined. A malfunctioning rotor is determined based on the observed attitude, the observed attitude rate, the expected attitude, and the expected attitude rate. In response to identifying the malfunctioning rotor, a responsive action is performed, including by updating a geometry matrix so that at least one non-malfunctioning rotor in the plurality of rotors compensates for the malfunctioning rotor.

Abstract: This description relates to a strapped windshield assembly for a rotorcraft. In some implementations, the rotorcraft includes an airframe, a windshield, and a plurality of independent straps connected to the airframe and the windshield, the straps operative to move independently with respect to one another. The independent movement of the straps allow relative movement of portions of the windshield in response to a strike. In some implementations, the straps are spaced every 4-6 inches along an edge of the windshield. In some implementations, the straps are over an edge of the windshield. The straps can have a modulus of elasticity of 8-12 millions of pounds per square inch (MSI). The windshield can include polycarbonate material.