Abstract: A method for dynamically converting the attitude of a rotary-wing drone that includes a body including an electronic board controlling the piloting of the drone and four link arms forming lift-producing wings, each arm including a rigidly connected propulsion unit. The method includes executing, on reception of an instruction allowing a conversion between flight using the rotary wings and flight using the lift of the wings, the conversion being defined by a pitch angle to be achieved ?ref, of a repeated sequence of steps until the pitch angle ?ref is achieved, including estimating the current pitch angle ?est of the drone, determining an angular trajectory depending on the pitch angle to be achieved ?ref, and sending one or more differentiated commands based upon the angular trajectory and the current estimated pitch angle ?est to one or more propulsion units such that the drone is rotated about the pitch axis.

Abstract: A rotary-wing drone includes a drone body that includes an electronic board controlling the piloting of the drone, and four link arms that include a rigidly connected propulsion unit. The link arms form lift-producing wings.

Abstract: A method for dynamically controlling the attitude of a rotary-wing drone. The method includes dynamically controlling the attitude of the drone when the drone is flying using lift of each of four wings of the drone, by controlling the attitude of the drone by sending differentiated commands to one or more propulsion units of the drone so as to rotate the drone about a roll axis and/or pitch axis and/or heading axis of the drone from a current angular position to a final angular position, the axes being defined in the reference point of the drone.