Hover-control method for multirotor unmanned aerial vehicle upcast at any angle to take off, computer program product using the same, and multirotor unmanned aerial vehicle using the same

A non-transitory computer readable storage medium comprising at least one program instruction, wherein the at least one program instruction is loaded and executed by a multirotor unmanned aerial vehicle (UAV) to cause the multirotor unmanned aerial vehicle to implement a hover-control method for the multirotor UAV which has been projected upwardly by an external force in an upcast state, the hover-control method comprises:

• sensing the upcast state of the multirotor UAV by an inertia sensing unit;
• sensing a tilt angle of at least one shaft of the multirotor UAV at a highest position by the inertia sensing unit when the multirotor UAV is in the upcast state;
• and
• driving, by a processor, a plurality of motors of the multirotor UAV by a dual feedback scheme based on a determination of whether the tilt angle of the at least one shaft of the multirotor UAV at the highest position is greater than a corresponding angle limitation to make the UAV hover, wherein the dual feedback scheme includes an open feedback scheme and a negative feedback scheme.

A multirotor unmanned aerial vehicle (UAV) which has been projected upwardly by an external force in an upcast state, comprising:

• a plurality of motors;
• a plurality of electronic speed controllers, coupled to the plurality of motors, for driving the plurality of motors according to a plurality of driving signals;
• an inertia sensing unit, for measuring an acceleration speed and an angular speed;
• and
• a processing unit that includes a processor, coupled to the plurality of electronic speed controllers and the inertia sensing unit, for determining if the multirotor UAV is in the upcast state according to the acceleration speed, wherein when the multirotor UAV is in the upcast state, the processing unit calculates at least one tilt angle of at least one shaft of the multirotor UAV according to the acceleration speed and the angular speed and executes an open feedback scheme according to the at least one tilt angle, drives the plurality of motors by a dual feedback scheme based on a determination whether the tilt angle of the at least one shaft of the multirotor UAV at the highest position is greater than a corresponding angle limitation, to cause the multirotor UAV hover, wherein the dual feedback scheme includes an open feedback scheme and a negative feedback scheme.