Abstract: A commanded control signal is compared against an adaptive control signal in order to detect a rotor strike by a rotor included in an aircraft, wherein the adaptive control signal is associated with controlling the rotor and the adaptive control signal varies based at least in part on the commanded control signal and state information associated with the rotor. In response to detecting the rotor strike, a control signal to the rotor is adjusted in order to reduce a striking force associated with the rotor.

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: During a vertical landing state, it is decided whether to switch from the vertical landing state to a self adjusting state. The VTOL vehicle includes the flight controller, the rotor, and a fuselage where the rotor is coupled to the fuselage via a vertical connector. If it is so decided, there is a switch from the vertical landing state to the self adjusting state. During the self adjusting state, a control signal for a rotor is generated where the control signal causes: (1) the rotor to rotate during the self adjusting state and (2) the VTOL vehicle to remain in a fixed position during the self adjusting state, in response to the control signal, and independent of docking infrastructure. During a rotors off state, a rotor off control signal is generated for the rotor that causes the rotor to turn off.

Abstract: A vertical takeoff and landing vehicle which includes an allocation block that receives a set of desired forces or desired moments and a health metric associated with at least one of: (1) a motor controller or (2) a rotor that operates in a vertical takeoff and landing mode at least some of the time. A command signal is determined per a first manner that attempts to satisfy both the set of desired forces or desired moments and the health metric. If the command signal is unable to be determined in the first manner, a second manner is used that prioritizes flight control associated with one or more of a roll axis or a pitch axis over flight control associated with a yaw axis where the axes are mutually orthogonal. The command signal is output to the motor controller that controls the rotor using the command signal.

Abstract: A vehicle includes a tilt rotor that is aft of a fixed wing and that is attached to the fixed wing via a pylon. A flight computer configured to instruct the tilt rotor to produce a maximum downward angle including by updating an actuator authority database associated with the flight computer to reflect the maximum downward angle, and generating a rotor control signal for the tilt rotor using the updated actuator authority database that reflects the maximum downward angle, wherein the maximum downward angle is adjustable.

Abstract: A geometry-based flight control system is disclosed. In various embodiments, a set of inceptor inputs associated with a requested set of forces and moments to be applied to the aircraft is received. An optimal mix of actuators and associated actuator parameters to achieve to an extent practical the requested forces and moments is computed, including by taking into consideration dynamically varying effectiveness of one or more actuators based on a current dynamic state of the aircraft. An output comprising for each actuator in the optimal mix a corresponding set of one or more control signals associated with the set of actuator parameters computed for that actuator is provided.

Abstract: A system includes a power optimized energy source, an energy storage optimized source, and a network that combines a first current from the power optimized energy source and a second current from the energy storage optimized source in order to power a load at least during a high power demand event, including by connecting the power optimized energy source and the energy storage optimized source using a parallel connection.

Abstract: During a cruise mode, a cruise-only propeller provides thrust using power from a first power source. During a hovering mode and a transitional mode, the propeller provides no thrust. The first power source includes an internal combustion engine; a second power source includes a high discharge rate battery and a high energy battery. The propeller is electrically connected to the first power source and is electrically disconnected from the second power source. During the hovering mode and the transitional mode, a hover-and-transition-only tiltrotor provides thrust using power from the second power source. During a vertical landing, the tiltrotor switches power sources from the high energy battery to the high discharge rate battery, independent of current draw. The tiltrotor is electrically disconnected from the first power source and is electrically connected to the second power source. During the cruise mode, the tiltrotor provides no thrust.

Abstract: A takeoff location and a landing location are received for an autonomous vertical takeoff and landing (VTOL) vehicle that includes a plurality of rotors. An autonomous and noise-reduced flight trajectory for the autonomous VTOL vehicle is determined based at least in part on the takeoff location, the landing location, a jerk function, and a noise function, including by minimizing the jerk function and minimizing the noise function. A set of one or more desired forces or moments is determined for the autonomous VTOL vehicle based at least in part on autonomous and noise-reduced flight trajectory. A plurality of motor control signals is determined for the plurality of rotors based at least in part on the set of one or more desired forces or moments.

Abstract: A vertical landing is performed by an electric vertical take-off and landing (eVTOL) vehicle above a charger where the eVTOL vehicle includes a rotor that is configured to rotate during an occupant change state to keep the eVTOL vehicle stationary during the occupant change state. A vertically-oriented male charging port that is part of the eVTOL vehicle and a female charging port that is part of the charger are detachably coupled and a battery in the eVTOL vehicle is charged using the charger while the vertically-oriented male charging port and the female charging port are detachably coupled.

Abstract: A landing zone indicator system which includes a battery that is configured to power a controller and a human vision output device, a controller that is configured to control human-visible light that is output by the human vision output device, and a human vision output device where the human-visible light output by the human vision output device generates an illuminated landing zone for a vertical takeoff and landing (VTOL) vehicle.

Abstract: Boundary information associated with a three-dimensional (3D) flying space is obtained, including a boundary of the 3D flying space. Location information associated with an aircraft is obtained, including a location of the aircraft. Information is presented based at least in part on the boundary information associated with the 3D flying space and the location information associated with the aircraft, including by presenting, in a display, the boundary of the 3D flying space and an avatar representing the aircraft at the location of the aircraft.

Abstract: A system includes a first battery in a vehicle. The vehicle is capable of being coupled at least temporarily with a second, removable battery and is powered by at least one of the first or the second battery. The system also includes a controller in the vehicle which is configured to estimate an amount of travel-related charge based at least in part on a pickup and drop off location. It is decided whether to charge the first battery using the second battery based at least in part on the amount of travel-related charge and a measured amount of stored charge in the second battery. If it is decided to do so, the first battery is charged using the second battery.

Abstract: Sensor data that includes or more of the following: (1) aircraft state information associated with an aircraft or (2) parachute canopy state information associated with a parachute canopy is received. The parachute canopy is coupled to the aircraft at a point aft of a center of mass of the aircraft. It is determined, based at least in part on the sensor data, whether to generate a control signal associated with maneuvering the aircraft into a nose-up position. A recovery action is performed, including by deploying the parachute canopy; wherein a load on the parachute canopy is reduced in the event the aircraft is in the nose-up position compared to the aircraft being in a nose-down position.

Abstract: A plurality of propellers generate vertical thrust at least some of the time. An attachment sub-system detachably couples to a vertical connector, where a plurality of vertically-stacked multicopters are configured to detachably couple to the vertical connector in order to transport a load at a bottom end of the vertical connector. There is an opening in a vehicle frame that is configured to: (1) receive the vertical connector prior to the attachment sub-system detachably coupling to the vertical connector and (2) hold the vertical connector while the attachment sub-system is detachably coupled to the vertical connector.

Abstract: A first hand control controls an altitude of a vertical takeoff and landing (VTOL) aircraft; the movement of the VTOL aircraft within a plane defined by a roll axis and a pitch axis is independent of the first hand control. The first hand control is provided on a first hand side of a pilot's seat included in the VTOL aircraft. A second hand control controls the movement of the VTOL aircraft within the plane defined by the roll axis and the pitch axis; the altitude of the VTOL aircraft is independent of the second hand control. The second hand control is provided on a second hand side of the pilot's seat that is opposite from the first hand side.

Abstract: A multi-modal aircraft recovery system is disclosed. In various embodiments, the system includes a first aircraft recovery parachute having a first set of physical attributes optimized for a first set of conditions and a second aircraft recovery parachute having a second set of physical attributes optimized for a second set of conditions different from the first.

Abstract: 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.

Abstract: A signal associated with a motor is obtained where the motor is included in a aircraft that has flight capabilities. A motor wear metric that represents an amount of wear experienced by the motor is determined based at least in part on the signal. It is determined, at a flight computer that is included in the aircraft, whether to restrict the flight capabilities of the aircraft based at least in part on the motor wear metric. The flight capabilities of the aircraft are restricted in the event it is so determined.

Abstract: A battery ejection system is disclosed. The battery ejection system comprises a pressure vessel, a battery submodule positioned at least partway in the pressure vessel and configured to release gas into the pressure vessel, and a seal of the pressure vessel configured to release in the event a pressure level in the pressure vessel exceeds a threshold pressure level. The battery submodule is configured to be ejected from an electrical connection in the event the seal is released.