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Safety is always the priority in aviation. However, current state-of-the-artpassive fault-tolerant control is too conservative to use; currentstate-of-the-art active fault-tolerant control requires time to perform faultdetection and diagnosis, and control switching. But it may be later to recoverimpaired aircraft. Most designs depend on failures determined as a priori andcannot deal with fault, causing the original system's state to beuncontrollable. However, experienced human pilots can save a serve impairedaircraft as far as they can. Motivated by this, this paper develops a principleto try to explain human pilot behavior behind, coined thegravity-compensation-first principle. This further supports reliable flightcontrol for aircraft such as quadcopters and tail-sitter unmanned aerialvehicles.

Reliable Flight Control: Gravity-Compensation-First Principle