CPC G05D 1/0016 (2013.01) [B64C 39/024 (2013.01); B64D 43/02 (2013.01); B64D 47/08 (2013.01); G05D 1/0094 (2013.01); G05D 1/101 (2013.01); G05D 1/223 (2024.01); G05D 1/654 (2024.01); G05D 1/689 (2024.01); G08G 5/003 (2013.01); H04N 23/64 (2023.01); B64U 10/13 (2023.01); B64U 2101/00 (2023.01); B64U 2101/30 (2023.01); B64U 2201/20 (2023.01); H04N 23/67 (2023.01); H04N 23/695 (2023.01)] | 30 Claims |
1. An unmanned aerial vehicle comprising:
a flight control subsystem; and
an electromechanical subsystem coupled with the flight control subsystem and configured to fly the unmanned aerial vehicle as directed by the flight control subsystem;
wherein the flight control subsystem is configured to:
record keyframes during one or more flights of the unmanned aerial vehicle;
compute a spline based on at least one or more of the keyframes;
save the computed spline for playback when flying the unmanned aerial vehicle;
during a subsequent flight of the unmanned aerial vehicle:
direct the electromechanical subsystem to fly the unmanned aerial vehicle based on the computed spline;
receive user input from a remote control comprising a modification to the computed spline, wherein the user input comprises joystick data;
modify the computed spline based at least on the joystick data resulting in a modified version of the computed spline, wherein to modify the computed spline, the flight control system is configured to apply a dampening function to the joystick data resulting in an attenuation of the joystick data; and
save the modified version of the computed spline for later playback.
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