Calibrate the R2A

R2A calibration is an important step in collecting accurate data

The R2A needs to converge the GNSS and IMU prior to capture for optimal results.

Part 1: Static Alignment 

  • Turn on the R2A and "start" recording. The interface should say, "Static Calibration"

Do you hear your camera's shutter? If not check that it initialized properly on the status page of the GUI

  • Wait 5 seconds for the interface to say, "Waiting for high velocity"

TURN OFF your mobile device's WiFi  to disconnect from the ROCK LiDAR wifi network until you need to log back into the GUI at the end of your mission to avoid reconnection issues that can interfere with data collection while in flight!

Part 2: Kinematic Alignment

  1. Take off vertically going straight up from landing zone, ideally using minimal to no lateral movement prior to High Velocity. Increase altitude to desired flight height,  ideally higher than all obstacles in the area (MOCA - Minimum Overhead Clearance Altitude).
  2. For at least 6 seconds, fly greater than 7 m/s in a straight line in the forward direction of flight. (I.E. fixed heading & altitude)
  3. Fly two Figure 8 patterns in the sky with the camera forward, just like an airplane (ideal diameter of the 8s being 20m at a speed of 10m/s). The second 8 is only necessary if you feel the first one was not adequately smooth. These figure 8's need to be flown at a fixed altitude.

Convergence Maneuver Complete!


    Fly your mission

    Great! Now the LiDAR is calibrated and you can begin flying your mission plan. Whether it is a mission plan from an app or a manual flight, all data at this point is aligned and provided you are using maximum satellite constellations with your base station you should yield very clean results with no vertical separations.

    Mid-mission Battery Change (aka Hot Swap)

    If your mission will require multiple battery changes, return to the landing zone at a speed greater than 7 m/s. Once you get overhead, do not exceed 3 m/s horizontally while you land your aircraft. This may sound familiar to you as the End of Mission Calibration and that's because it is. You never know when you might have a bad Hot Swap and have to use this as your stopping point.

    Keep the drone on the ground for no longer than 5 Minutes while you change the batteries. If you remain on the ground for much longer than 2 minutes it might be best to end the collection and plan to start a new collection on your next flight. Assuming you can take off within the 5 minute window, take off and resume your mission.

    No need to re-do your figure 8s if you didn't power cycle the unit. Just fly back to the last point collected in your mission and resume.

    Part 3: End of Mission Calibration

    At the end of your mission, return to the landing zone at a speed greater than 7 m/s. Once you get over your Landing Zone (LZ), do not exceed 3 m/s in horizontally while you descend to the LZ.

    1. Static alignment - Land and don't move the Aircraft and/or LiDAR for at least 30 seconds.
    2. Turn phone WiFi back on and connect to ROCK LiDAR's WiFi network.
    3. Connect via the web interface (
    4. "Stop" collecting data using web interface.
    5. "Shutdown" the R2A.

    If you DON'T "Shutdown" the ROCK LiDAR you won't successfully write your unit specific parameters (boresight & camera alignment) to the trigger files contained in the project folder and you will have to Pre-Process the job the LONG way.

    Use the navigation menu below to continue the tutorial.