ELECTRIC VEHICLES WITH DETACHABLY COUPLED PROPULSION UNITS
A vehicle that includes a communications interface that exchanges, with a propulsion unit that includes a battery, a first propeller, and a local flight controller, one or more decoupling communications associated with decoupling the propulsion unit and the vehicle and outputs a motor control signal. The vehicle further includes a central flight controller that obtains a reduced thrust allocation map with the first propeller removed and generates, using the reduced thrust allocation map, a motor control signal for a second propeller that is not included in the propulsion unit.
1 . A vehicle, comprising:
a communications interface that is configured to:
exchange, with a propulsion unit that includes a battery, a first propeller, and a local flight controller, one or more decoupling communications associated with decoupling the propulsion unit and the vehicle; and
output a motor control signal; and
a central flight controller that is configured to:
obtain a reduced thrust allocation map with the first propeller removed; and
generate, using the reduced thrust allocation map, a motor control signal for a second propeller that is not included in the propulsion unit.
2 . The vehicle recited in claim 1 , wherein the communications interface is configured to exchange the one or more decoupling communications over a wireless communications channel.
3 . The vehicle recited in claim 1 , wherein the propulsion unit includes a tiltrotor such that the vehicle includes a vertical takeoff and landing (VTOL) vehicle.
4 . The vehicle recited in claim 1 , wherein:
the propulsion unit includes a tiltrotor such that the vehicle includes a vertical takeoff and landing (VTOL) vehicle; and
the VTOL vehicle further includes a pod, wherein the pod is coupled to a fuselage via a tether and is configured to be in contact with the fuselage during forward flight.
5 . The vehicle recited in claim 1 , wherein:
the vehicle further includes a docking point that communicates configuration information to the propulsion unit; and
the propulsion unit configures itself as specified by the configuration information.
6 . A method, comprising:
exchanging, with a propulsion unit that includes a battery, a first propeller, and a local flight controller, one or more decoupling communications associated with decoupling the propulsion unit and a vehicle;
obtaining a reduced thrust allocation map with the first propeller removed;
generating, using the reduced thrust allocation map, a motor control signal for a second propeller that is not included in the propulsion unit; and
outputting a motor control signal.
7 . The method recited in claim 6 , wherein the one or more decoupling communications are exchanged over a wireless communications channel.
8 . The method recited in claim 6 , wherein the propulsion unit includes a tiltrotor such that the vehicle includes a vertical takeoff and landing (VTOL) vehicle.
9 . The method recited in claim 6 , wherein:
the propulsion unit includes a tiltrotor such that the vehicle includes a vertical takeoff and landing (VTOL) vehicle; and
the VTOL vehicle further includes a pod, wherein the pod is coupled to a fuselage via a tether and is configured to be in contact with the fuselage during forward flight.
10 . The method recited in claim 6 , wherein:
the vehicle further includes a docking point that communicates configuration information to the propulsion unit; and
the propulsion unit configures itself as specified by the configuration information.
11 . A computer program product embodied in a non-transitory computer readable medium and comprising computer instructions for:
exchanging, with a propulsion unit that includes a battery, a first propeller, and a local flight controller, one or more decoupling communications associated with decoupling the propulsion unit and a vehicle;
obtaining a reduced thrust allocation map with the first propeller removed; and
generating, using the reduced thrust allocation map, a motor control signal for a second propeller that is not included in the propulsion unit.
outputting a motor control signal.
12 . The computer program product recited in claim 11 , wherein the one or more decoupling communications are exchanged over a wireless communications channel.
13 . The computer program product recited in claim 11 , wherein the propulsion unit includes a tiltrotor such that the vehicle includes a vertical takeoff and landing (VTOL) vehicle.
14 . The computer program product recited in claim 11 , wherein:
the propulsion unit includes a tiltrotor such that the vehicle includes a vertical takeoff and landing (VTOL) vehicle; and
the VTOL vehicle further includes a pod, wherein the pod is coupled to a fuselage via a tether and is configured to be in contact with the fuselage during forward flight.
15 . The computer program product recited in claim 11 , wherein:
the vehicle further includes a docking point that communicates configuration information to the propulsion unit; and
the propulsion unit configures itself as specified by the configuration information.