  This paper aims to develop a Fault Tolerant Control (FTC) architecture, for
the case of a damaged actuator for a multirotor UAV that can be applied across
multirotor platforms based on their Attainable Virtual Control Set (AVCS). The
research is aimed to study the AVCS and identify the parameters that limit the
controllability of multirotor UAV post an actuator failure. Based on the study
of controllability, the requirements for a FTC is laid out. The implemented
control solution will be tested on a quadrotor, Intel Shooting Star UAV
platform in indoor and outdoor flights using only the onboard sensors. The
attitude control solution is implemented with reduced attitude control, and the
control allocation is performed with pseudo-inverse based model inversion with
sequential desaturation to ensure tilt priority. The model is identified with
an offline Ordinary Least Squares routine and subsequently updated with the
Recursive Least Squares method. An offline calibration routine is implemented
to correct IMU offset distance from the centre of rotation to correct for
accelerometer bias caused by the high-speed spin after failure in a quadrotor.
