Elios 3 - Autonomous Repeat Flight & Comparison over Time
Autonomous Repeat Flight (Repeat Flight) & Comparison Over Time allows you to replay a specific flight trajectory and POIs/snapshots with high precision.
User Manual
Complete user manual for download and further information:
Prerequisites
The following is needed for access to Autonomous Repeat Flight & Comparison Over Time.
Item
Description
Premium Software and Inspector Online Subscriptions
Repeat Flight is available through paid subscription. Comparison over time requires Inspector Online.
Updated Firmware version
Cockpit and Elios 3 firmware versions to 2025.03.1 or newer.
LiDAR payload
The Elios 3 needs to have a LiDAR payload equipped.
Relocalized reference
Initial flight needs to have been relocalized successfully.
Repeat Flight
Repeat Flight can only be activated by the pilot. Once triggered, the Elios 3 will replay a specific flight trajectory, to include POIs/snapshots with high precision returning to .5 meter (1.6 feet) from the take-off location or the closest safe position. It is important to monitor the entire flight in case pilot intervention is needed.
To repeat a flight autonomously, there needs to be a flight completed with a valid relocalization reference.
NB - The Repeat Flight function is available for flights recorded from Elios 3 Avionics firmware version 2025.03.1. Flights recorded with previous versions will not have this option.
If there are no previous flights one will need to be created or imported.
Initial flight planning
Planning for any initial flight is important, with several considerations to be taken. The Repeat Flight function will replay the exact flight highlighting the importance of this planning. In addition to identifying the route and snapshots necessary. Other important aspects are:
Image Resolution - Consider the number of POIs/snapshots needed. If there is potential for more than 40 POIs/snapshots for the flight, select the FHD (1080p) setting. Use 4K only if the mission requires fewer than 40 snapshots. These options are selectable from the Cockpit Settings - Flight Settings menu.
Relocalization reference - The Repeat Flight function requires a relocalization reference to function. It is important to choose a region with unique and permanent features, to include the adequate initial scanning of it. Avoid relocalizing in very symmetrical environments. The Elios 3 must fly 5m/16ft from takeoff to create the reference.
Consider the limitations of the feature and incorporate as needed: Limitations
Create a reference flight
After planning the flight to be repeated:
Create a new asset and Inspection. The Relocalization reference is saved/accessed at Asset level.
Before arming the Elios 3 on the first flight, the Set Relocalization reference alert will remind the pilot to adequately scan the takeoff area as this will define the reference for future relocalization. Complete the flight to create the reference. A green RELOC icon will indicate success in the preflight Asset Dashboard.
It is important for the future success of relocalizing to choose a region with unique and permanent features, and the adequate initial scanning of it. Avoid relocalizing in very symmetrical environments.
Import reference flight
Previously recorded reference flights collected with firmware 2025.03.1 and newer can be imported back onto the Elios 3 via Inspector 5 desktop.
Open Inspector desktop with the Workspace containing the flight to be repeated.
Select the Export tab in the left sidebar menu.
Select the checkbox of the Inspection to be repeated. The Asset should have a green Reloc tab.
Click the Export button to add the Inspection. Export All to add all.
With a valid reference flight recorded and/or imported it will be possible to select this feature.
NB - Export an original reference flight, and not a repeated flight. Drift/inaccuracy can build when repeating repeated flights.
Select a flight to repeat
With a valid Inspection on the Elios 3 a circular repeat flight radio button (1) will be available for selection from the Asset list in the preflight dashboard.
Tap the circular repeat flight radio button (1). After this selection the related buttons(3), POIs and trajectory(4) will turn purple.
NB - When selecting Repeat Flight (1), avoid selecting a repeated flight by selecting a flight without the purple Repeat tab (2). e.g. Flight 1 in the above reference.
Tap the Repeat Flight button (3) to continue.
Start Autonomous Repeat Flight
With the alert to manually spin the drone, take the Elios 3, and scan the take off area as illustrated. Once completed, place the Elios 3 back down on the take off point.
Tap the Continue to Repeat Flight button. The system will localize the Elios 3 to the relocalization reference. Once completed a green banner indicating a successful localization will appear at the top of the screen.
Arm the Elios 3. After manually arming the drone, there are two options for the pilot:
Immediately activate the function, as repeat flight includes the entire trajectory from takeoff to landing. Tap the Repeat button to start Repeat Flight.
There is flexibility to allow for manual navigation to assist in difficult or risky entry points. e.g. tight access, busy areas, new obstacles, etc. Fly manually through the challenging section and return to 5M / 16ft of the original flight path. Tap the Repeat button to start Repeat Flight.
Monitor the flight. The Repeat Flight tab (1) will update depending on the state of the flight. Use this tab to initialize the function as well as monitor and take back control as needed.
Available functionality and information:
Circular completion indicator - Visual and numerical estimate of repeat flight completed.
Estimated time of repeat flight remaining.
Action button - Stop or start the repeat flight.
The 3D map has additional features to assist the pilot with a repeat flight. The pilot can select POV or 3D map view based on preference:
Trajectory - The trajectory will become purple to indicate the repeat flight function has been selected. It will turn white as the portion is completed. Should there be reason to venture from the original path, a suggested path will appear to help guide the pilot back to resume repeat flight as needed. For more information: Advanced Features
POIs - POIs to be repeated are indicated in purple once the feature has been selected. POIs repeated are indicated in green.
Once the Elios 3 returns to the take off point an alert is provided to inform the pilot to take control to land.
Advanced Features
For more information of the advanced features: Autonomous Repeat Flight & Comparison Over Time - User Manual.
Comparison Over Time
Easily compare and analyze repeated POIs / snapshots from an Inspection, over time, and side by side, using the Comparison over time with Inspector Online (FlyaCloud).
Import / Upload / Sync flight data
Import - Connect the Elios 3 to a computer and import flights.
Upload - Select the repeat/repeated Inspection and upload the dataset to Flyability Inspector Online (FlyaCloud). Navigate to the Inspection (1), click the 3dot dropdown menu (2), Click Upload to cloud (3).
Sync - Once uploaded select the Sync with Cloud checkbox (4).
POIs / Snapshots - Comparison over time
With the Inspections uploaded to Inspector Online (FlyaCloud) the Comparison Over Time function will be available.
Open Inspector Online and select a repeated Inspection. Click the Start Comparison button (1) to compare the POIs / Snapshots for the selected Inspection.
Comparison Over Time - POIs / Snapshots view
The Comparison Over Time user interface contains a list of POIs / Snapshots collected with the 3D map and comparison window for viewing and editing the compared snapshots.
Windows and tools available in the editing suite:
(1) List of POIs - The list of POIs in the selected asset. Click on a POI to compare the current across the other repeated inspections. The POI name, latest criticality, snapshot count, and description are listed.
(2) Comparison window - Visualize the snapshots corresponding with the POI selected. Each snapshot has the Inspection name, date/time, criticality, and edit button. It is possible to annotate with points and lines using the tools in the toolbar:
Add a point.
Synchronize views [Shift].
Copy to clipboard.
Add a line.
Reset views.
Download.
Full screen view.
(2a) A list of all repeated snapshots aligning to the chosen POI are listed in chronological order. Snapshots visualized are highlighted with a green border. Click to add or remove a snapshot from comparison over time. (3) 3D viewer - See the snapshot/s taken in the 3D view. (4) Collapse / open windows - Click the arrows to open and close windows to customize the interface.
Limitations
Limitations to be aware of for Autonomous Repeat Flight operation:
Risk / Limitation
Description
Mitigation / Warning
Symmetrical Environments
Featureless assets (Tanks, Silos, Sewers, Tunnels, Chimneys, etc.) lack unique features, which can cause SLAM drift.
Fly off-center (stay near walls) for texture. Use external lights.
Static Environments Only
Presence of moving machinery or people.
Repeat Flight is for static environments only. Blind spots apply. Do not use Repeat Flight if people or moving machinery are present.
Water & Glass
Presence of transparent surfaces or water.
Avoid transparent surfaces and water.
Proximity to walls or ceilings
Maintain a minimum clearance of 10cm/4in from obstacles during standard navigation. This safety margin may be reduced to 6cm/ 2.5in only when capturing snapshots or during slow-speed flight.
Attempting to repeat a flight violating these margins, the Elios 3 could collide with the surface and fail with error [A07].
Move the drone away from the surface, skip the affected segment, and restart the repeat flight from the following segment
Cumulative Turbulence
Repeat flights reproduce the specific motion of the reference flight, including original turbulence, plus any new turbulence. This can lead to erratic motion or "overshoots".
Flying very close to surfaces/pipes increases turbulence. While snapshots remain precise, the flight path may appear rougher than the original manual flight due to the addition of tracking errors and environmental turbulence.
Daisy-Chaining Flights (Repeated Flights)
Repeating a flight that was a repeat flight (e.g., flight C repeats flight B, which is a repeated flight of the original flight A).
Repeating a repeated flight increases accumulated drift. The system will warn against this behaviour: Repeated flight detected. Repeating it again may lead to accumulated drift.
Use Inspector desktop (Export tab) to push the original reference flight to the drone.
Extended Flight Time (Snapshots)
The drone stops to stabilize at every POI to ensure sharp images. If the reference flight used "slide mode" (moving while capturing), this adds ~2 seconds per snapshot.
To match flight times precisely, stop completely before capturing POIs during the reference flight.
Ensure battery capacity is sufficient.
LiDAR Data Continuity
Repeat Flight relies on continuous LiDAR data. If Temporary loss of lidar data [A02] or Lidar communication timeout [A03] occurs, the Repeat flight functionality will be unavailable [A12].
If these errors occur, Repeat flight functionality is currently unavailable [A12]. The pilot must fly manually.
Contact Flyability Support if the LiDAR issue persists
Dusty Environments
Large dust clouds can be detected by the LiDAR as obstacles. This may cause the drone to stop, hover, or attempt to avoid the cloud, resulting in deviations.
Avoid dusty places in flight. Stay alert when the drone initiates maneuvers to avoid the dust cloud.
4K vs. FHD POI/Snapshot
4K mode supports a maximum of 40 snapshots. Excess images are extracted from video with a different field of view, appearing misaligned.
Select FHD instead of 4K. In FHD mode, there is no snapshot limit, and all POIs are captured as true snapshots with consistent framing across repeated flights.
Thermal Camera
The thermal display can not be triggered autonomously.
Manual Action: The pilot can manually toggle the thermal display during the autonomous flight itself if required.
For more information download the complete user manual: Autonomous Repeat Flight & Comparison Over Time - User Manual.
Last updated
Was this helpful?