Joe Enke

Disclosed is a configuration to control automatic return of an aerial vehicle. The configuration stores a return location in a storage device of the aerial vehicle. The return location may correspond to a location where the aerial vehicle is to return. One or more sensors of the aerial vehicle are monitored during flight for detection of a predefined condition. When a predetermined condition is met a return path program may be loaded for execution to provide a return flight path for the aerial… Show more

Disclosed is a configuration to control automatic return of an aerial vehicle. The configuration stores a return location in a storage device of the aerial vehicle. The return location may correspond to a location where the aerial vehicle is to return. One or more sensors of the aerial vehicle are monitored during flight for detection of a predefined condition. When a predetermined condition is met a return path program may be loaded for execution to provide a return flight path for the aerial vehicle to automatically navigate to the return location. Show less

An aerial vehicle comprises one or more sensors to environmental data, a communication system to receive control inputs from a user, two or more actuators, with each actuator coupled to a rotary wing. The aerial vehicle also comprises a controller to determine a mode of the aerial vehicle based on the environmental data and the control inputs, each mode indicating a set of flight characteristics for the aerial vehicle, generate a gain value based on the mode, the gain value, when used to modify… Show more

An aerial vehicle comprises one or more sensors to environmental data, a communication system to receive control inputs from a user, two or more actuators, with each actuator coupled to a rotary wing. The aerial vehicle also comprises a controller to determine a mode of the aerial vehicle based on the environmental data and the control inputs, each mode indicating a set of flight characteristics for the aerial vehicle, generate a gain value based on the mode, the gain value, when used to modify power signals transmitted to actuators of the aerial vehicle, causes the aerial vehicle to conform within the indicated flight characteristics of the determined mode, generate an output signal modified by the gain value based on the input signal, and transmit a power signal based on the output signal to each actuator of the aerial vehicle. Show less

Described herein are systems for the production, communication, routing, service, authentication, and consumption of cryptographically authenticable contextual content produced by cryptographically authenticable devices; example implementations of the architecture for a Trusted Contextual Content Device which produces Trusted Contextual Content; and example implementations of the architecture for a Trusted Drone Device which produces Trusted Contextual Content. For example, some of the methods… Show more

Described herein are systems for the production, communication, routing, service, authentication, and consumption of cryptographically authenticable contextual content produced by cryptographically authenticable devices; example implementations of the architecture for a Trusted Contextual Content Device which produces Trusted Contextual Content; and example implementations of the architecture for a Trusted Drone Device which produces Trusted Contextual Content. For example, some of the methods used may include accessing a first set of sensor data from one or more sensors; receiving, a first trusted contextual content that includes a first digital signature; generating a data structure including the first trusted contextual content and data based on the first set of sensor data; signing the data structure using a signing key to generate a second trusted contextual content including a second digital signature; and storing or transmitting the second trusted contextual content. Show less

A mapping system receives sensor data from an unmanned aerial vehicle. The mapping system further receives images from a camera of the unmanned aerial vehicle. The mapping system determines an altitude of the camera based on the sensor data. The mapping system calculates a footprint of the camera based on the altitude of the camera and a field of view of the camera. The mapping system constructs a localized map based on the images and the footprint of the camera.

Ultrasonic ranging state management for a UAV is described. A transducer transmits an ultrasonic signal and receives an ultrasonic response thereto using a gain value. A noise floor estimation mechanism determines a noise floor estimate. A state mechanism sets an ultrasonic ranging state used by the transducer to a first ultrasonic ranging state. The transducer transmits an ultrasonic signal and responsively receive an ultrasonic response to the ultrasonic signal using a gain value according to… Show more

Ultrasonic ranging state management for a UAV is described. A transducer transmits an ultrasonic signal and receives an ultrasonic response thereto using a gain value. A noise floor estimation mechanism determines a noise floor estimate. A state mechanism sets an ultrasonic ranging state used by the transducer to a first ultrasonic ranging state. The transducer transmits an ultrasonic signal and responsively receive an ultrasonic response to the ultrasonic signal using a gain value according to the noise floor estimate. The state mechanism processes the ultrasonic response to determine whether to determine a new noise floor estimate, adjust the gain value used by the transducer, or change the ultrasonic ranging state of the UAV to a second ultrasonic ranging state. The configurations of the first and second ultrasonic ranging states differ as to, for example, power and gain levels used by the transducer to receive ultrasonic responses. Show less

Disclosed is a system and method for reducing the total latency for transferring a frame from the low latency camera system mounted on an aerial vehicle to the display of the remote controller. The method includes reducing the latency through each of the modules of the system, i.e. through a camera module, an encoder module, a wireless interface transmission, wireless interface receiver module, a decoder module and a display module. To reduce the latency across the modules, methods such as… Show more

Disclosed is a system and method for reducing the total latency for transferring a frame from the low latency camera system mounted on an aerial vehicle to the display of the remote controller. The method includes reducing the latency through each of the modules of the system, i.e. through a camera module, an encoder module, a wireless interface transmission, wireless interface receiver module, a decoder module and a display module. To reduce the latency across the modules, methods such as overclocking the image processor, pipelining the frame, squashing the processed frame, using a fast hardware encoder that can perform slice based encoding, tuning the wireless medium using queue sizing, queue flushing, bitrate feedback, physical medium rate feedback, dynamic encoder parameter tuning and wireless radio parameter adjustment, using a fast hardware decoder that can perform slice based decoding and overclocking the display module are used. Show less

Target value detection for an unmanned aerial vehicle is described. The unmanned aerial vehicle includes a first transducer that transmits a first ultrasonic signal and receives a first ultrasonic response and a second transducer that transmits a second ultrasonic signal and receives a second ultrasonic response. The second transducer has a wider beam pattern than the first transducer. Determinations are made as to whether either or both of the first or second ultrasonic responses includes a… Show more

Target value detection for an unmanned aerial vehicle is described. The unmanned aerial vehicle includes a first transducer that transmits a first ultrasonic signal and receives a first ultrasonic response and a second transducer that transmits a second ultrasonic signal and receives a second ultrasonic response. The second transducer has a wider beam pattern than the first transducer. Determinations are made as to whether either or both of the first or second ultrasonic responses includes a target value within range areas associated with the respective beam patterns of the first and second transducers. A confidence value is generated based on the determinations. The target value is reflected from an object and the confidence value indicates a likelihood of a position of the unmanned aerial vehicle with respect to the object. Show less

The disclosure describes systems and methods for a stabilization mechanism. The stabilization mechanism may be used in conjunction with an imaging device. The method may be performed by a control system of the stabilization mechanism and includes obtaining a device setting from an imaging device. The method may also include obtaining a configuration of the stabilization mechanism. The method includes determining a soft stop based on the device setting, the configuration, or both. The soft stop… Show more

The disclosure describes systems and methods for a stabilization mechanism. The stabilization mechanism may be used in conjunction with an imaging device. The method may be performed by a control system of the stabilization mechanism and includes obtaining a device setting from an imaging device. The method may also include obtaining a configuration of the stabilization mechanism. The method includes determining a soft stop based on the device setting, the configuration, or both. The soft stop may be a virtual hard stop that indicates to the stabilization mechanism to reduce speed as a field of view of the imaging device approaches the soft stop. The method may also include setting an image stabilization mechanism parameter based on the determined soft stop. Show less

Systems and methods are disclosed for image signal processing. For example, methods may include determining a sequence of orientation estimates based on sensor data from one or more motion sensors; based on the sequence of orientation estimates, invoking a mechanical stabilization system to reject motions of an image sensor occurring within a first operating bandwidth with an upper cutoff frequency; receiving an image from the image sensor; based on the sequence of orientation estimates… Show more

Systems and methods are disclosed for image signal processing. For example, methods may include determining a sequence of orientation estimates based on sensor data from one or more motion sensors; based on the sequence of orientation estimates, invoking a mechanical stabilization system to reject motions of an image sensor occurring within a first operating bandwidth with an upper cutoff frequency; receiving an image from the image sensor; based on the sequence of orientation estimates, invoking an electronic image stabilization module to correct the image for rotations of the image sensor occurring within a second operating bandwidth with a lower cutoff frequency to obtain a stabilized image, wherein the lower cutoff frequency is greater than the upper cutoff frequency; and storing, displaying, or transmitting an output image based on the stabilized image. Show less

A controller system of an aerial vehicle may receive environmental data from one or more sensors of the aerial vehicle and adjusts limits of the aerial vehicle given the environmental conditions. When the aerial vehicle receives an input, such as a flight input from a remote controller or an environmental input such as a gust of wind, the controller system calculates appropriate motor inputs that are provided to the thrust motors of the aerial vehicle such that the adjusted limits of the aerial… Show more

A controller system of an aerial vehicle may receive environmental data from one or more sensors of the aerial vehicle and adjusts limits of the aerial vehicle given the environmental conditions. When the aerial vehicle receives an input, such as a flight input from a remote controller or an environmental input such as a gust of wind, the controller system calculates appropriate motor inputs that are provided to the thrust motors of the aerial vehicle such that the adjusted limits of the aerial vehicle are not exceeded. In calculating the appropriate input to the thrust motors, the controller system performs an iterative process. For example, for a given maximum torque that can be applied to the thrust motors, the controller system iteratively allocates the torque such that torque components that are important for the stability of the aerial are first fulfilled, whereas subsequent torque components may be fulfilled or scaled back. Show less

A pipeline in a controller may be configured to interface between sensors and actuators. The pipeline may elements such as drivers, filters, a combine, estimators, controllers, a mixer, and actuator controllers. The drivers may receive sensor data and pre-process the received sensor data. The filters may filter the pre-processed sensor data to generate filtered sensor data. The combine may package the filtered sensor data to generate packaged sensor data. The estimators may determine estimates… Show more

A pipeline in a controller may be configured to interface between sensors and actuators. The pipeline may elements such as drivers, filters, a combine, estimators, controllers, a mixer, and actuator controllers. The drivers may receive sensor data and pre-process the received sensor data. The filters may filter the pre-processed sensor data to generate filtered sensor data. The combine may package the filtered sensor data to generate packaged sensor data. The estimators may determine estimates of a position of a vehicle based on the packaged sensor data. The controllers may generate control signals based on the determined estimates. The mixer may modify the generated control signals based on limitations of the vehicle. The actuator controllers may generate actuator control signals based on the modified control signals to drive the actuators. Show less

An image capture device is used to capture an event. A user of the image capture device may stream the captured event using one or more social media platforms. Viewers of the streamed event may provide feedback to the user of the image capture device while viewing the streamed event. An example method for providing the feedback to the user of the image capture device includes receiving feedback information items from viewers viewing the streamed event. The method may include assigning a score… Show more

An image capture device is used to capture an event. A user of the image capture device may stream the captured event using one or more social media platforms. Viewers of the streamed event may provide feedback to the user of the image capture device while viewing the streamed event. An example method for providing the feedback to the user of the image capture device includes receiving feedback information items from viewers viewing the streamed event. The method may include assigning a score to each feedback information item and generating a feedback indication based on the scores assigned to each of the feedback information items. The method may include providing the feedback indication to the user of the image capture device using a feedback indicator associated with the image capture device. Show less

A mapping system receives sensor data from an unmanned aerial vehicle. The mapping system further receives images from a camera of the unmanned aerial vehicle. The mapping system determines an altitude of the camera based on the sensor data. The mapping system calculates a footprint of the camera based on the altitude of the camera and a field of view of the camera. The mapping system constructs a localized map based on the images and the footprint of the camera.

Conventional wireless interface (WiFi) controllers cannot resolve authentication for trusted client devices without calculation from a host processor. Leaving the host processor on or awaking it from a sleep state each time a non-authenticated trusted client device attempts to connect wastes power. A hostless authenticated wake service allows a host controller to enter a sleep state while the WiFi controller responds to multicast domain name service -service discovery (mDNS-SD) queries from… Show more

Conventional wireless interface (WiFi) controllers cannot resolve authentication for trusted client devices without calculation from a host processor. Leaving the host processor on or awaking it from a sleep state each time a non-authenticated trusted client device attempts to connect wastes power. A hostless authenticated wake service allows a host controller to enter a sleep state while the WiFi controller responds to multicast domain name service -service discovery (mDNS-SD) queries from trusted client devices. Once a client device is authenticated, the WiFi controller may respond to a trusted client request to awake the host processor for further command processing and service provision. Not only does this approach reduce power consumption by allowing the host processor to remain in the sleep state, it allows trusted client devices to discover its presence while ensuring security. Show less

Disclosed is a configuration to control automatic return of an aerial vehicle. The configuration stores a return location in a storage device of the aerial vehicle. The return location may correspond to a location where the aerial vehicle is to return. One or more sensors of the aerial vehicle are monitored during flight for detection of a predefined condition. When a predetermined condition is met a return path program may be loaded for execution to provide a return flight path for the aerial… Show more

Disclosed is a configuration to control automatic return of an aerial vehicle. The configuration stores a return location in a storage device of the aerial vehicle. The return location may correspond to a location where the aerial vehicle is to return. One or more sensors of the aerial vehicle are monitored during flight for detection of a predefined condition. When a predetermined condition is met a return path program may be loaded for execution to provide a return flight path for the aerial vehicle to automatically navigate to the return location. Show less

Systems and methods are disclosed for image capture. For example, systems may include an image capture module including an image sensor configured to capture images, a base that includes a processing apparatus and a connector, and an integrated mechanical stabilization system configured to control an orientation of the image sensor relative to the base, wherein the processing apparatus is configured to send commands to motor controllers of the mechanical stabilization system and includes an… Show more

Systems and methods are disclosed for image capture. For example, systems may include an image capture module including an image sensor configured to capture images, a base that includes a processing apparatus and a connector, and an integrated mechanical stabilization system configured to control an orientation of the image sensor relative to the base, wherein the processing apparatus is configured to send commands to motor controllers of the mechanical stabilization system and includes an image signal processor that is configured to receive image data from the image sensor; and a handheld module configured to be removably attached to the image capture module by the connector, wherein the handheld module includes a display configured to display images received from the image sensor via conductors of the connector. Show less

A method is provided for controlling a movable imaging assembly having a movable platform and an imaging device coupled to and movable relative to the movable platform. The method includes receiving user inputs that define an MIA position relative to a target and a frame position of the target within image frames captured by the imaging device. The user inputs include a horizontal distance, a circumferential position, and a horizontal distance that define the MIA position, and include a… Show more

A method is provided for controlling a movable imaging assembly having a movable platform and an imaging device coupled to and movable relative to the movable platform. The method includes receiving user inputs that define an MIA position relative to a target and a frame position of the target within image frames captured by the imaging device. The user inputs include a horizontal distance, a circumferential position, and a horizontal distance that define the MIA position, and include a horizontal frame position and a vertical frame position that define the frame position. The method further includes predicting a future position of the target for a future time, and moving the MIA to be in the MIA position at the future time and moving the imaging device for the target to be in the frame position for an image frame captured at the future time. Show less

A motor controller of an unmanned aerial vehicle (UAV) is optimized to improve operation of the UAV. The motor control optimizations include controlling a motor of a UAV to reduce an operating temperature of the UAV, reducing an amount of latency or jitter resulting from motor operation, and applying a smoothing filter for motor operation. For example, controlling a motor of a UAV to reduce an operating temperature of the UAV can include using a temperature model for the unmanned aerial vehicle… Show more

A motor controller of an unmanned aerial vehicle (UAV) is optimized to improve operation of the UAV. The motor control optimizations include controlling a motor of a UAV to reduce an operating temperature of the UAV, reducing an amount of latency or jitter resulting from motor operation, and applying a smoothing filter for motor operation. For example, controlling a motor of a UAV to reduce an operating temperature of the UAV can include using a temperature model for the unmanned aerial vehicle or an operating temperature measurement to determine a current operating temperature and comparing that current operating temperature to a threshold. If the threshold is exceeded, settings of the motor are adjusted to cause the motor to operate in a manner that reduces the current operating temperature. Show less

Controlling an unmanned aerial vehicle to traverse a portion of an operational environment of the unmanned aerial vehicle may include obtaining an object detection type, obtaining object detection input data, obtaining relative object orientation data based on the object detection type and the object detection input data, and performing a collision avoidance operation based on the relative object orientation data. The object detection type may be monocular object detection, which may include… Show more

Controlling an unmanned aerial vehicle to traverse a portion of an operational environment of the unmanned aerial vehicle may include obtaining an object detection type, obtaining object detection input data, obtaining relative object orientation data based on the object detection type and the object detection input data, and performing a collision avoidance operation based on the relative object orientation data. The object detection type may be monocular object detection, which may include obtaining the relative object orientation data by obtaining motion data indicating a change of spatial location for the unmanned aerial vehicle between obtaining the first image and obtaining the second image based on searching along epipolar lines to obtain optical flow data. Show less

Systems and methods are disclosed for image signal processing. For example, methods may include determining an orientation setpoint for an image sensor; based on a sequence of orientation estimates for the image sensor and the orientation setpoint, invoking a mechanical stabilization system to adjust an orientation of the image sensor toward the orientation setpoint; receiving an image from the image sensor; determining an orientation error between the orientation of the image sensor and the… Show more

Systems and methods are disclosed for image signal processing. For example, methods may include determining an orientation setpoint for an image sensor; based on a sequence of orientation estimates for the image sensor and the orientation setpoint, invoking a mechanical stabilization system to adjust an orientation of the image sensor toward the orientation setpoint; receiving an image from the image sensor; determining an orientation error between the orientation of the image sensor and the orientation setpoint during capture of the image; based on the orientation error, invoking an electronic image stabilization module to correct the image for a rotation corresponding to the orientation error to obtain a stabilized image; and storing, displaying, or transmitting an output image based on the stabilized image. Show less

A condition of an unmanned aerial vehicle (UAV) is detected using one or more sensors of the UAV and signaled according to an alert definition associated with the condition. For example, an alert definition can indicate to signal the condition by using a motor of the UAV to produce an audible tone. A tonal signal having a frequency within an audible spectrum can be generated according to the alert definition. The tonal signal and a drive signal used for supplying current to the motor can be… Show more

A condition of an unmanned aerial vehicle (UAV) is detected using one or more sensors of the UAV and signaled according to an alert definition associated with the condition. For example, an alert definition can indicate to signal the condition by using a motor of the UAV to produce an audible tone. A tonal signal having a frequency within an audible spectrum can be generated according to the alert definition. The tonal signal and a drive signal used for supplying current to the motor can be combined to produce a combined signal. The combined signal can then be transmitted to the motor to cause the motor to produce the audible tone. In some cases, an amplitude of the tonal signal can be modulated, such as where the amplitude of the combined signal exceeds a threshold associated with an operating margin of the UAV. Show less

A pipeline video system is capable of transmitting rate adapted video. The pipeline video system receives a first video stream in real time from a camera at a first frame rate; receiving data link layer transmission statistics of a wireless interface. The system also generates a second video stream with a second frame rate from the first video stream by dropping one or more video frames of the first video stream based on the data link layer transmission statistics. Based on encoding parameters… Show more

A pipeline video system is capable of transmitting rate adapted video. The pipeline video system receives a first video stream in real time from a camera at a first frame rate; receiving data link layer transmission statistics of a wireless interface. The system also generates a second video stream with a second frame rate from the first video stream by dropping one or more video frames of the first video stream based on the data link layer transmission statistics. Based on encoding parameters determined based on the data link layer transmission statistics, the system encodes the second video stream. The encoded second video stream is transmitted to the wireless interface for transmission. Show less

A method for tracking a subject in successive image frames includes obtaining previous image frames with an imaging device, processing the previous image frames, obtaining motion information of the imaging device and a subject, determining a region of interest, obtaining a subsequent image frame, and processing the region of interest. The processing includes determining previous frame positions of the subject therein. The motion information is obtained with sensors physically associated with… Show more

A method for tracking a subject in successive image frames includes obtaining previous image frames with an imaging device, processing the previous image frames, obtaining motion information of the imaging device and a subject, determining a region of interest, obtaining a subsequent image frame, and processing the region of interest. The processing includes determining previous frame positions of the subject therein. The motion information is obtained with sensors physically associated with one o more of the imaging device and the subject. The region of interest is located in a predetermined spatial relationship relative to a predicted frame position of the subject. Show less

Conventional Bluetooth low energy (or like personal wireless network) controllers cannot resolve private addresses without some calculation from a host processor but leaving the host processor on or awaking it from a sleep each time a non-trusted device attempts to connect wastes power. Hostless private address resolution allows a host controller to enter a sleep state while the Bluetooth controller advertises its device name, primary services, rejects connection requests from non-trusted… Show more

Conventional Bluetooth low energy (or like personal wireless network) controllers cannot resolve private addresses without some calculation from a host processor but leaving the host processor on or awaking it from a sleep each time a non-trusted device attempts to connect wastes power. Hostless private address resolution allows a host controller to enter a sleep state while the Bluetooth controller advertises its device name, primary services, rejects connection requests from non-trusted devices with public and private addresses, and awakens the host controller upon a connection request from a trusted client device with a public or private address. Not only does this approach reduce power consumption by allowing the host processor to remain in the sleep state it simultaneously ensures security by allowing the private address resolution to remain active on the Bluetooth controller. Show less

Disclosed is a configuration for displaying a user interface on a device (e.g., a remote controller) to assist a user in correctly orienting the device for improved communication with an aerial vehicle. Position information is received by device from the aerial vehicle. The remote controller detects its own position and orientation. Based on the orientation of the remote controller and the relative position of the remote controller and aerial vehicle, the remote controller displays an… Show more

Disclosed is a configuration for displaying a user interface on a device (e.g., a remote controller) to assist a user in correctly orienting the device for improved communication with an aerial vehicle. Position information is received by device from the aerial vehicle. The remote controller detects its own position and orientation. Based on the orientation of the remote controller and the relative position of the remote controller and aerial vehicle, the remote controller displays an indication to the user to assist the user in orienting the remote controller so that one or more directional antennas of the remote controller are oriented for effective communication between the device and the aerial vehicle. Also disclosed is an antenna configuration within a housing of a remote controller. The antenna configuration includes two ceramic patch antennas. Show less

An unmanned aerial vehicle (UAV) controller may have control elements configured to receive inputs from a user. A cover may be coupled to the controller. The cover may be movable between a closed position in which the control elements are covered and an open position in which the control elements are exposed. An antenna may be integrated in the cover. The antenna may be electrically connected to circuitry in the controller for communicating with a UAV. In some implementations, a conductive… Show more

An unmanned aerial vehicle (UAV) controller may have control elements configured to receive inputs from a user. A cover may be coupled to the controller. The cover may be movable between a closed position in which the control elements are covered and an open position in which the control elements are exposed. An antenna may be integrated in the cover. The antenna may be electrically connected to circuitry in the controller for communicating with a UAV. In some implementations, a conductive plane and/or an insulating plane may be integrated in the cover. In some implementations, a heatsink, a fan, and/or a support mechanism may be arranged on an under portion of the controller. In some implementations, a circuit board including a cutout may be arranged inside the controller. Show less

Described herein are systems and methods using a security key for an unmanned aerial vehicle. For example, some methods include during flight of an unmanned aerial vehicle, encrypting, using a public key stored by the unmanned aerial vehicle, a symmetric key that is used to encrypt media data captured using one or more sensors of the unmanned aerial vehicle to obtain encrypted media data; landing the unmanned aerial vehicle; connecting a key device to the unmanned aerial vehicle via a serial… Show more

Described herein are systems and methods using a security key for an unmanned aerial vehicle. For example, some methods include during flight of an unmanned aerial vehicle, encrypting, using a public key stored by the unmanned aerial vehicle, a symmetric key that is used to encrypt media data captured using one or more sensors of the unmanned aerial vehicle to obtain encrypted media data; landing the unmanned aerial vehicle; connecting a key device to the unmanned aerial vehicle via a serial port connector of the key device and a serial port connector of the unmanned aerial vehicle; while the key device is connected to the unmanned aerial vehicle, decrypting, using a private key stored on the key device, the encrypted symmetric key, which in turn is used to decrypt a portion of the encrypted media data to obtain decrypted media data; and transmitting a portion of the decrypted media data. Show less