US Patent 10577116 Active damping of flexible modes for unmanned aerial vehicles

Embodiments described herein provide active dampening of flexible modes of a UAV during flight operations. During operation of a UAV having a flexible airframe, the thrust and/or torque of the motor(s) coupled to propellers can induce flexing in the airframe that reduces the flight performance of the UAV. Measurements of a linear acceleration and/or an angular rate at a location proximate to the motor are performed, and flexible modes in the airframe of the UAV are identified based on the measurements. An operation of the motor(s) is modified based on the measurements to dampen the flexible mode.