Altitude regulator

The invention describes a method and device for precise control of and controller design for aircrafts consisting of at least one spinning part and at least one non spinning part. Typically, but without loss of generality, the spinning part is a rotor, whereas the non-spinning part is a fuselage. The principle described can be extended to any number of spinning and non-spinning parts, making the invention applicable to traditional single rotor helicopter design as well as multi rotor designs. The method and device is particularly suitable for UAVs, where the operator does not see the aircraft during all flight, and thus is unable to correct the attitude. However, the method is applicable also for model aircrafts and full size aircrafts. The inventions principle is to continuously and individually calculate the required torques for control of the spinning parts and for the non-spinning parts, and combine all torques to get the correct torque for the complete aircraft. Doing this, it's possible to continuously apply the correct torque, both correctly distributed among the roll and pitch axes (correct angle), and correct magnitude. The result is a decoupling of the roll and pitch axes, simplifying controller design to a design of two single input single output controllers, one for each axe.