Radio controlled aircraft, remote controller and methods for use therewith
View Patent ↗A radio controlled (RC) vehicle includes a receiver that is coupled to receive an RF signal from a remote control device, the RF signal containing command data in accordance with a first coordinate system, wherein the first coordinate system is from a perspective of the remote control device. A motion sensing module generates motion data based on the motion of the RC vehicle. A processing module transforms the command data into control data in accordance with a second coordinate system, wherein the second coordinate system is from a perspective of the RC vehicle. A plurality of control devices control the motion of the RC vehicle based on the control data.
1. A method for use with a radio controlled (RC) aircraft, the method comprising:
receiving an RF signal from a remote control device that includes command data to control motion of the RC aircraft;
generating motion data from at least one sensor of the RC aircraft based on motion of the RC aircraft; and
controlling the RC aircraft based on the command data and the motion data, wherein the command data correspond to user commands in a first coordinate system from a perspective of the remote control device and the command data are transformed into control data in a second coordinate system that is from a perspective of the RC aircraft;
wherein the user commands includes lift command data that indicates a hovering state and controlling the RC aircraft includes controlling the RC aircraft to a hovering state in response to the lift command data.
2. The method of claim 1 wherein the command data includes launch data, and wherein controlling the RC aircraft includes launching an object from the RC aircraft in response to the launch data.
3. The method of claim 1 wherein the command data includes roll-axis command data and pitch-axis command data, and the motion data includes yaw-axis motion data.
4. The method of claim 3 wherein the control data includes roll-axis control data generated as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.
5. The method of claim 3 wherein the control data includes pitch-axis control data generated as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.
6. A method for use with a radio controlled (RC) aircraft, the method comprising:
receiving an RF signal from a remote control device that includes command data that indicates user commands to control motion of the RC aircraft;
generating motion data from at least one sensor of the RC aircraft that indicates motion of the RC aircraft;
controlling the RC aircraft based on the RF signal and the motion data, wherein the user commands includes lift command data that indicates a hovering state and controlling the RC aircraft includes controlling the RC aircraft to a hovering state in response to the lift command data, and wherein the user commands to control the motion of the RC aircraft are in a first coordinate system from a perspective of the remote control device and,
in a first mode of operation:
the user commands indicated by the command data are transformed into transformed commands in a second coordinate system that is from a perspective of the RC aircraft; and
the RC aircraft is controlled based on the transformed commands; and
in a second mode of operation:
the RC aircraft is controlled directly based on the user commands indicated by the command data in the first coordinate system.
7. The method of claim 6 wherein the command data includes launch data, and wherein controlling the RC aircraft includes launching an object from the RC aircraft in response to the launch data.
8. The method of claim 6 wherein the command data includes roll-axis command data and pitch-axis command data, and the motion data includes yaw-axis motion data.
9. The method of claim 8 wherein the transformed commands include roll-axis data generated as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.
10. The method of claim 8 wherein the transformed commands include pitch-axis data generated as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.
11. A method for use with a radio controlled (RC) aircraft, the method comprising:
generating an RF signal from a remote control device that includes command data that indicates user commands to control motion of the RC aircraft, wherein the user commands to control the motion of the RC aircraft are in a first coordinate system from a perspective of the remote control device;
generating a mode control signal that indicates one of: a first mode of operation and a second mode of operation;
wherein the RC aircraft is controlled based on the RF signal and motion data generated by at least one sensor of the RC aircraft that indicates motion of the RC aircraft, wherein the user commands includes lift command data that indicates a hovering state and control of the RC aircraft includes:
controlling the RC aircraft to a hovering state in response to the lift command data; and
when the mode control signal indicates the first mode of operation:
the user commands indicated by the command data are transformed into transformed commands in a second coordinate system that is from a perspective of the RC aircraft; and
the RC aircraft is controlled based on the transformed commands; and
when the mode control signal indicates the second mode of operation:
the RC aircraft is controlled directly based on the user commands indicated by the command data in the first coordinate system.
12. The method of claim 11 wherein the command data includes launch data, and wherein controlling the RC aircraft includes launching an object from the RC aircraft in response to the launch data.
13. The method of claim 11 wherein the command data includes roll-axis command data and pitch-axis command data, and the motion data includes yaw-axis motion data.
14. The method of claim 13 wherein the transformed commands include roll-axis data generated as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.
15. The method of claim 13 wherein the transformed commands include pitch-axis data generated as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.