Controlled flight of multicopters subject to faults affecting effectors

摘要

A flying object control scheme for a flying object having only one functioning effector is provided. A method for operating a multicopter subject to a fault in flight, the method comprising the step of identifying the fault affecting torque and / or propulsive force generated by the effector 102. Depending on the identification of the fault, a) calculating an estimate of the orientation of the primary axis 130 of the body 112 with respect to a predefined reference frame 160, wherein the primary axis 130 is B) calculating an estimate of the angular velocity of the multicopter; c) estimating the orientation of the primary axis 130 of the body 112 with respect to the predefined reference system 160; and the angular velocity of the multicopter. One of the at least four effectors 102 or And controlling the number by.