Radio controlled aircraft, remote controller and methods for use therewith

An apparatus comprising:

• means for receiving a radio frequency (RF) signal at a remote controlled (RC) vehicle from a remote control device, the RF signal indicating command data in accordance with a first coordinate system, wherein the first coordinate system is from a perspective of the remote control device;
• means for generating motion data at the RC vehicle, wherein the motion data indicates a position of the RC vehicle and an orientation of the RC vehicle;
• means for transforming the command data into control data based on the motion data and in accordance with a second coordinate system, wherein the second coordinate system is from a perspective of the RC vehicle, and wherein the means for transforming is coupled to the means for receiving and the means for generating, wherein the command data includes yaw-velocity command data, wherein the control data includes yaw-velocity control data, and wherein the yaw-velocity control data is related to the yaw-velocity command data;
• and
• means for controlling motion of the RC vehicle based on the control data.

A method comprising:

• receiving a radio frequency (RF) signal at a remote controlled (RC) vehicle from a remote control device, the RF signal indicating command data in accordance with a first coordinate system, wherein the first coordinate system is from a perspective of the remote control device;
• generating motion data from at least one motion sensor of the RC vehicle, wherein the motion data indicates a position of the RC vehicle and an orientation of the RC vehicle;
• transforming the command data into control data based on the motion data and in accordance with a second coordinate system, wherein the second coordinate system is from a perspective of the RC vehicle, wherein the command data includes yaw-velocity command data, wherein the control data includes yaw-velocity control data, and wherein the yaw-velocity control data is related to the yaw-velocity command data;
• and
• controlling motion of the RC vehicle based on the control data.

A non-transitory, computer-readable medium storing instructions that, when executed by a processor of a remote controlled (RC) vehicle, cause the processor to perform operations comprising:

• receiving a radio frequency (RF) signal at the RC vehicle from a remote control device, the RF signal indicating command data in accordance with a first coordinate system, wherein the first coordinate system is from a perspective of the remote control device;
• generating motion data from at least one sensor of the RC vehicle, wherein the motion data indicates a position of the RC vehicle and an orientation of the RC vehicle;
• transforming the command data into control data based on the motion data and in accordance with a second coordinate system, wherein the second coordinate system is from a perspective of the RC vehicle, wherein the command data includes yaw-velocity command data, wherein the control data includes yaw-velocity control data, and wherein the yaw-velocity control data is related to the yaw-velocity command data;
• and
• controlling motion of the RC vehicle based on the control data.