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Abstract

A method for dynamically converting the attitude of a rotary-wing drone that includes a body including an electronic board controlling the piloting of the drone and four link arms forming lift-producing wings, each arm including a rigidly connected propulsion unit. The method includes executing, on reception of an instruction allowing a conversion between flight using the rotary wings and flight using the lift of the wings, the conversion being defined by a pitch angle to be achieved θ_ref, of a repeated sequence of steps until the pitch angle θ_ref is achieved, including estimating the current pitch angle θ_est of the drone, determining an angular trajectory depending on the pitch angle to be achieved θ_ref, and sending one or more differentiated commands based upon the angular trajectory and the current estimated pitch angle θ_est to one or more propulsion units such that the drone is rotated about the pitch axis.

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First Claim