This paper discusses the integration of health monitoring and flight control systems for small Unmanned Aerial Vehicles (UAVs). After briefly reviewing previous fuzzy logic controllers (FLC) of air vehicles, a very low cost integration method is proposed. The proposed fuzzy logic (FL) selects the best gain values for the operation of PD or PID controllers of the autonomous flight system according to the health of the components. Such gain adjustments help the UAV to execute maneuvers in a more conservative manner when the system have structural or proportion system problems
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