METHOD FOR DYNAMICALLY CONTROLLING THE ATTITUDE OF A DRONE FOR THE AUTOMATIC EXECUTION OF A FIGURE OF THE RING OR SALTO TYPE

摘要

This method controls the rotation of the drone over a complete turn around its axis of roll or pitch. It comprises the steps of: a) simultaneous control of the engines so as to print to the drone a prior push upward vertical pressure (PHASE 1); b) non-slaved differentiated control of the motors to produce a rotation of the drone about the axis of rotation from an initial angular position to a predetermined intermediate angular position (PHASE 2); then c) controlled differentiated control of the motors (62) so as to complete the rotation of the drone over a complete revolution about the axis of rotation, progressively from the intermediate angular position with a non-zero angular velocity, to an angular position final with zero angular velocity (PHASE 3).