VEHICLE, SYSTEM AND METHODS FOR DETERMINING AUTOPILOT PARAMETERS IN A VEHICLE

1 . A system for use with a vehicle, comprising:

a plurality of control circuits for controlling an operation of the vehicle, each of the plurality of control circuits implementing one or more autopilot coefficients;

a first controller that is configured to tune one or more control circuits of the plurality of control circuits operating in an untuned or incorrectly tuned state;

an electronic switch that is configured to isolate the one or more control circuits in the untuned or incorrectly tuned state from other control circuits;

a tuning circuit that is configured to determine tuned values of the autopilot coefficients corresponding to the one or more control circuits in the untuned or incorrectly tuned state, the tuned values of the autopilot coefficients enabling at least one of the control circuits to operate in a tuned state;

a memory that is configured to store the tuned values of the autopilot coefficients;

an autopilot unit being formed by the plurality of control circuits, and at least one of the electronic switch, the tuning circuit, the first controller, and the memory;

a sensor connected to the autopilot unit for communicating with the autopilot unit; and

an actuator connected to the autopilot unit for receiving correctional directions from the autopilot unit;

wherein the electronic switch is further configured to connect the one or more control circuits in the tuned state, which were initially operating in the incorrectly tuned state, to the other control circuits,

wherein each of the plurality of control circuits is a Proportional Integral Derivative (PID) controller, wherein the autopilot coefficients, which correspond to each of the plurality of control circuits, are PID coefficients, and wherein the PID controller is a separate element than the first controller.

2 . (canceled)

3 . The system of claim 1 , wherein the tuning circuit sets is further configured to adjust values of each of the autopilot coefficients within a predetermined range; and

determine if the one or more control circuits corresponding to the autopilot coefficients operate in a tuned state at one or more of the adjusted values of the autopilot coefficients.

4 . The system of claim 3 , wherein the tuning circuit is further configured to:

apply a step function to the one or more control circuits operating in the untuned or incorrectly tuned state; and

monitor outputs of the one or more control circuits, which operate in the unturned or incorrectly tuned state, correspond to the adjusted values of the autopilot coefficients.

5 . The system of claim 4 , wherein the tuning circuit is further configured to adjust at least one of duration, delays, step magnitude, step polarity, and a number of steps of the step function.

6 . The system of claim 1 , wherein the controller is further configured to operate the other control circuits during tuning of the one or more control circuits operating in the untuned or incorrectly tuned state.

7 . The system of claim 1 , wherein at least one of the control circuits of the plurality of control circuits is configured to regulate a flight control surface of the vehicle.

8 . A method for controlling a vehicle operatively coupled to a controller with the vehicle including a plurality of control circuits, the method comprising:

detecting, by a first controller, that one or more control circuits are operating in an untuned or incorrectly tuned state from the plurality of control circuits, each of the plurality of control circuits implementing one or more autopilot coefficients to control an operation of the vehicle;

isolating, by an electronic switch, the one or more control circuits in the untuned or incorrectly tuned state from other control circuits;

determining, by a tuning circuit, tuned values of the autopilot coefficients corresponding to the one or more control circuits in the untuned or incorrectly tuned state, the tuned values of the autopilot coefficients enabling the one or more control circuits to operate in a tuned state;

storing, in a memory, the tuned values of the autopilot coefficients; and

connecting, by the electronic switch, the one or more control circuits in the tuned state, which were initially operating in the incorrectly tuned state, to the other control circuits,

wherein each of the plurality of control circuits is a Proportional Integral Derivative (PID) controller, wherein the autopilot coefficients, which correspond to each of the plurality of control circuits, are PID coefficients, and wherein the PID controller is a separate element than the first controller.

9 . The method of claim 8 , further comprising adjusting, by the tuning circuit, values of each of the autopilot coefficients within a predetermined range; and

determining, by the tuning circuit, if the one or more control circuits corresponding to the autopilot coefficients operate in a tuned state at one or more of the adjusted values of the autopilot coefficients.

10 . The method of claim 9 , further comprising:

applying, by the tuning circuit, a step function to the one or more control circuits operating in the untuned or incorrectly tuned state; and

monitoring, by the tuning circuit, outputs of the one or more control circuits, which operate in the untuned or incorrectly tuned state, correspond to the adjusted values of the autopilot coefficients.

11 . The method of claim 10 , further comprising adjusting, by the tuning circuit, at least one duration, delays, step magnitude, step polarity, and a number of steps of the step function.

12 . The method of claim 8 , further comprising operating, by the controller, the other control circuits during tuning of the one or more control circuits operating in the untuned or incorrectly tuned state.

13 . The method of claim 8 , further comprising controlling, by at least one control circuit of the plurality of control circuits, a flight control surface of the vehicle.

14 . An unmanned vehicle comprising:

a plurality of control circuits for controlling an operation of the unmanned vehicle, each of the plurality of control circuits implementing one or more autopilot coefficients;

a first controller that is configured to tune one or more control circuits operating in an untuned or incorrectly tuned state from the plurality of control circuits;

an electronic switch that is configured to isolate the one or more control circuits in the untuned or incorrectly tuned state from other control circuits;

a tuning circuit that is configured to determine tuned values of the autopilot coefficients corresponding to the one or more control circuits in the untuned or incorrectly tuned state, the tuned values of the autopilot coefficients enabling the or more control circuits to operate in a tuned state; and

a memory that is configured to store the tuned values of the autopilot coefficients;

wherein the electronic switch is further configured to connect the one or more control circuits in the tuned state, which were initially operating in the incorrectly tuned state, to the other control circuits,

wherein each of the plurality of control circuits is a Proportional Integral Derivative (PID) controller, wherein the autopilot coefficients, which correspond to each of the plurality of control circuits, are PID coefficients, and wherein the PID controller is a separate element than the first controller.

15 . (canceled)

16 . The unmanned vehicle of claim 14 , wherein the tuning circuit is further configured to:

adjust values of each of the autopilot coefficients within a predetermined range; and

determine if the one or more control circuits corresponding to the autopilot coefficients operate in a tuned state at one or more of the adjusted values of the autopilot coefficients.

17 . The unmanned vehicle of claim 16 , wherein the tuning circuit is further configured to apply a step function to the one or more control circuits operating in the untuned or incorrectly tuned state; and

monitor outputs of the one or more control circuits, which operate in the untuned or incorrectly tuned state, correspond to the adjusted values of the autopilot coefficients.

18 . The unmanned vehicle of claim 17 , wherein the tuning circuit is further configured to adjust at least one duration, delays, step magnitude, step polarity, and a number of steps of the step function.

19 . The unmanned vehicle of claim 14 , wherein the unmanned vehicle further comprises a communication unit that is configured to communicate with at least one of another unmanned vehicle and a base station.

20 . The unmanned vehicle of claim 19 , wherein a controller of at least one of the another unmanned vehicle and the base station is configured to control the other control circuits of the another unmanned vehicle during tuning of the one or more control circuits operating in the untuned or incorrectly tuned state.