This is something I'm very interested in. Does the controller have a discrete set of possible known faults or does it just re-learn its model constantly? How quickly can it detect a fault? I think this fault tolerant stuff is where UAV research (and a lot of practical control applications in general) is heading. Very interesting and very important.
That looks very nice, I wonder if the system actually knows what it's lost, or just has a self-tuning controller that figures something doesn't work, and adjusts the gains.
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