Geometry-based flight control system

1. A method of controlling flight of an aircraft, comprising:

receiving a set of inputs associated with a requested set of forces and moments to be applied to the aircraft; and

computing a mix of actuators and associated actuator parameters based on a dynamic state of the aircraft, wherein the computing of the mix of actuators and the associated actuator parameter includes:

computing the moment vector based on a current state of the aircraft, wherein the current state of the aircraft is determined based on sensor data and an estimate of the current state of the aircraft, the sensor data including a first wing tilt angle and a second wing tilt angle, wherein the first wing tilt angle relates to an angle of a front wing, and wherein the second wing tilt angle relates to an angle of a back wing;

determining a rotor geometry matrix based on the first wing tilt angle and the second wing tilt angle, a front wing position, a back wing position, and an aircraft airspeed, wherein the rotor geometry matrix is determined by applying an equation to a rotor of the aircraft, wherein the equation includes a thrust offset, a thrust direction, and a rotor thrust, wherein the thrust offset relates to a rotor location compared to a center of gravity of the aircraft, wherein the thrust direction relates to a directionality of a thrust of the rotor, and wherein the rotor thrust relates to the thrust of the rotor;

computing the control surface performance matrix based on the first wing tilt angle and the second wing tilt angle; and

updating the mix of actuators and the associated actuator parameters based on the control surface performance matrix, the rotor geometry matrix, and the moment vector; and

providing an output comprising one or more control signals for the associated actuator parameters computed for the actuators.

2. The method of claim 1 , wherein the dynamic state of the aircraft comprises a wing tilt angle or rotor tilt angle, wherein the wing tilt angle includes the first wing tilt angle and the second wing tilt angle.

3. The method of claim 1 , wherein the mix is computed at least in part by formulating an associated optimization problem as a quadratic program.

4. The method of claim 3 , wherein formulating the associated optimization problem comprises linearizing a non-linear model for actuator performance.

5. The method of claim 4 , wherein the non-linear model for actuator performance is determined based on the dynamic state.

6. The method of claim 4 , wherein the non-linear model for actuator performance is determined based on spatial rotation information.

7. The method of claim 4 , wherein the non-linear model for actuator performance is computed onboard the aircraft in real time.

8. The method of claim 3 , wherein the associated optimization problem is computed onboard the aircraft in real time.

9. The method of claim 1 , wherein the mix is computed at least in part by formulating an associated optimization problem comprising a rotor performance matrix, control surface performance matrix, and the requested set of forces and moments to be applied to the aircraft.

10. The method of claim 1 , wherein computing the mix includes determining a set of thrusts for rotors of the aircraft and a set of angles for control surfaces of the aircraft.

11. The method of claim 1 , wherein the mix is computed at least in part by determining a model for rotor performance based on the dynamic state of the aircraft.

12. The method of claim 1 , wherein the mix is computed at least in part by determining a model for control surface performance based on the dynamic state of the aircraft.

13. The method of claim 1 , wherein computing the mix includes optimizing for an equal utilization of all rotors relative to their maximum and minimum thrusts.

14. The method of claim 1 , wherein computing the mix includes optimizing for an equal utilization of all control surfaces relative to their maximum and minimum possible angles.

15. The method of claim 1 , wherein computing the mix includes determining weights to prioritize roll, pitch, yaw, and thrusts in relation to each other.

16. The method of claim 1 , wherein computing the mix includes monitoring actuator health and adjusting an associated optimization problem accordingly.

17. The method of claim 1 , wherein a wing tilt angle of the aircraft is determined based on past actuator commands.

18. The method of claim 1 , wherein aircraft airspeed is interpolated based on a wing tilt angle of the aircraft, wherein the wing tilt angle includes the first wing tilt angle and the second wing tilt angle.

19. An aircraft flight control system, comprising:

an interface configured to receive a set of inputs associated with a requested set of forces and moments to be applied to the aircraft; and

a processor coupled to the interface and configured to:

compute a mix of actuators and associated actuator parameters based on a dynamic state of the aircraft, wherein the computing of the mix of actuators and the associated actuator parameter includes to:

compute the moment vector based on a current state of the aircraft, wherein the current state of the aircraft is determined based on sensor data and an estimate of the current state of the aircraft, the sensor data including a first wing tilt angle and a second wing tilt angle, wherein the first wing tilt angle relates to an angle of a front wing, and wherein the second wing tilt angle relates to an angle of a back wing;

determine a rotor geometry matrix based on the first wing tilt angle and the second wing tilt angle, a front wing position, a back wing position, and an aircraft airspeed, wherein the rotor geometry matrix is determined by applying an equation to a rotor of the aircraft, wherein the equation includes a thrust offset, a thrust direction, and a rotor thrust, wherein the thrust offset relates to a rotor location compared to a center of gravity of the aircraft, wherein the thrust direction relates to a directionality of a thrust of the rotor, and wherein the rotor thrust relates to the thrust of the rotor;

compute the control surface performance matrix based on the first wing tilt angle and the second wing tilt angle; and

update the mix of actuators and the associated actuator parameters based on the control surface performance matrix, the rotor geometry matrix, and the moment vector; and

provide an output comprising one or more control signals for the associated actuator parameters computed for the actuators.

20. A computer program product to control flight of an aircraft, the computer program product being embodied in a non-transitory computer readable medium and comprising computer instructions for:

receiving a set of inputs associated with a requested set of forces and moments to be applied to the aircraft; and

computing a mix of actuators and associated actuator parameters based on a dynamic state of the aircraft, wherein the computing of the mix of actuators and the associated actuator parameter includes:

computing the moment vector based on a current state of the aircraft, wherein the current state of the aircraft is determined based on sensor data and an estimate of the current state of the aircraft, the sensor data including a first wing tilt angle and a second wing tilt angle, wherein the first wing tilt angle relates to an angle of a front wing, and wherein the second wing tilt angle relates to an angle of a back wing;

determining a rotor geometry matrix based on the first wing tilt angle and the second wing tilt angle, a front wing position, a back wing position, and an aircraft airspeed, wherein the rotor geometry matrix is determined by applying an equation to a rotor of the aircraft, wherein the equation includes a thrust offset, a thrust direction, and a rotor thrust, wherein the thrust offset relates to a rotor location compared to a center of gravity of the aircraft, wherein the thrust direction relates to a directionality of a thrust of the rotor, and wherein the rotor thrust relates to the thrust of the rotor;

computing the control surface performance matrix based on the first wing tilt angle and the second wing tilt angle; and

updating the mix of actuators and the associated actuator parameters based on the control surface performance matrix, the rotor geometry matrix, and the moment vector; and

providing an output comprising one or more control signals for the associated actuator parameters computed for the actuators.

21. The method of claim 1 , wherein the control surface performance matrix is determined by applying another equation to a control surface of the aircraft, wherein the other equation includes a lift offset, a lift direction, and a control surface angle, wherein the lift offset relates to a control surface location compared to the center of gravity of the aircraft, and wherein lift direction relates to a directionality of lift caused by a control surface deflection.