How to perform a mission (Mapping & Autonomy)

This section takes you through the step-by-step process of successfully executing a mapping, pilot assist, or autonomous mission.

Emesent Commander remains active without user interaction to ensure that the point cloud is populated in the Main View. When a mission has started, it is important to keep your phone or tablet screen unlocked. If the device is locked, the app may enter sleep mode, resulting in incomplete data and gaps in the point cloud visualization. While the Hovermap will continue to capture data, it may not be rendered in the app. To ensure you can visualize all captured data, do not lock your device while the mission is in progress.

Step 1: Landing Page

Choose your mission by tapping either the Non-Autonomous Mapping Mission or the Assisted or Autonomous Mission tile.

Step 2: Pre-mission checks

Emesent Commander is designed to walk you through the pre-mission phase to ensure all the necessary checks are completed and the system is correctly configured to conduct a safe and successful data collection. The first phase in the Mission workflow is the Pre-mission checks page. Read, check, and confirm each inspection item as you finish.

You can expand the item related to checking Wi-Fi antennas, remote controller, and take off space to reveal more information.

If you are confident that all the necessary checks have been completed, simply tap the Inspections Complete button instead of manually checking each item. A message prompt is displayed to confirm your intention before proceeding.

\By tapping the Inspections Complete button, you acknowledge and assume full responsibility for ensuring all necessary checks are completed. The log reflects that you have skipped this step of the Mission workflow.

Once all checks are complete, tap Continue.

Step 3: Connectivity

This page shows the robot and the Hovermap you are connected to. Make sure they are correct. Also, observe the following:

• A green tick that indicates a remote controller is connected to the tablet. This is optional and you can still proceed if not connected.

• A green tick that indicates you are connected to a robot. The robot’s name is also shown.

• A green tick that indicates you are connected to a Hovermap network. Check if you have the correct connection. If not, tap Change Network to connect to another Hovermap.

If connected to a DJI drone, it is highly recommended to connect your controller to the tablet to enable real-time access to crucial DJI data, including RC signal strength, GPS signal accuracy, and, most importantly, accurate battery level readings.

When connecting the tablet to the remote controller via USB, you will be prompted to grant USB permission to a program. Tap the Commander icon and select Just once.

Once all connections are confirmed, tap Continue.

If using a Hovermap mounted to a Vehicle RTK or Backpack RTK and Emesent Commander detects a GNSS receiver is connected but is offline, you cannot continue to the next page.

Step 4: Pre-mission settings

There are several things to check/configure on this page.

• RC mode (DJI only): Select the remote control mapping mode. The buttons are only enabled if a controller is connected to the tablet. You will still be able to proceed if none is connected. Refer to “Mission Settings“ in the Emesent Commander User Interface section for more information.
  Note: RC mode selection is only available if you have selected the Allow registration with DJI to use DJI drones option on the Eula signup page (when the application is first run) or in the Application settings page.

• Mode switch position: The mode switch position confirms whether the remote controller mode switch is placed in a position that allows Hovermap to obtain control. Check the following:

  • Observe that there is a green tick beside Controller mode supports Hovermap-assisted mission.

  • Make sure the controller is in Hovermap mode. Refer to “Hovermap Control Indicators“ in
    the Emesent Commander User Interface section for more information.

• Collision avoidance (shield): Shield settings are used for assisted missions. The configured distances will not be used when Hovermap is performing an autonomous mission.

Tap Reset to defaults to revert to the original shield settings.

Once all pre-mission settings are configured, tap Continue.

Step 5: Scan setup

Enter a name for the current mission. The name entered will be orange until it has been applied.
Tap Done on the keyboard to apply the new name, or close the keyboard then tap the tick button beside the name field.

If the tick button remains teal (instead of turning grey) after closing the keyboard, it means the new name has not been applied. If this happens, simply tap the teal tick button to apply the new name.

Once the new scan name is applied, tap the Start Scan button to begin the scan startup process. The startup duration varies, typically ranging from one to two minutes.

If you attempt to start the scan and there are unsaved changes to the scan name, you will be prompted to confirm whether you want to save it before continuing.

If using a Hovermap mounted to a Vehicle RTK or Backpack RTK and Emesent Commander detects a GNSS receiver is connected but is offline, you cannot start the scan.

During this initialization phase, the LiDAR sensor will start rotating. This is not an indication that the scan has started. Do not proceed until you get a notification that the mission is ready.

Once the pre-scan checks are complete and the scan has started, the following indications are displayed under Pre-scan check status:

• A green tick and “Pre-scan checks passed” message

• A green tick and “Ready for Mission” message

Tap the Continue button to navigate to the Main View.

At this point, if you have selected to do a mapping mission, go ahead and start scanning. Remember to take it nice and slow. Concentrate on the area you want to map out. To get the most accurate results, it's a good idea to finish the scan in the same spot where you began.

To enhance user safety during Mapping mode missions on compatible robots, you will receive a confirmation message that you will not have the assistance of Shield protection, which could expose the drone to risks in GPS-denied environments. You can proceed without Shield or cancel and plan an Autonomous mode mission to provide additional protection against obstacles.

For pilot-assisted or autonomous missions, refer to the succeeding steps.

For details on how to stop a scan, refer to step 13.

Step 6: Arm and Take Off (For Pilot Assist and Autonomous Missions)

1. To arm and take off, select the Arm and Take Off button at the bottom of the screen.

   1. Alternatively, arm the robot using its built-in function, then press the Take Off button within Commander.

Ensure the area above and around the drone is clear before takeoff.

Once the robot is armed and airborne, the status will update to Running. The robot's current position is indicated by an arrow cursor with the Emesent logo, while the Home icon marks the starting location.

Step 7: Add / Edit Tasks (Only for Autonomous Mission)

To create a mission, add individual tasks to the Task Manager, then start the mission. Hovermap will execute each task in sequence. There are two available task types: Explore and Waypoint. These task types can be combined to meet specific mission objectives.

In the Task Manager, select Explore or Waypoint as the task type. For additional information on the types of tasks see Hovermap Mission Modes.

After configuring a Waypoint or Explore task, tap Accept to add it to the mission. You can then add additional tasks or view, edit, delete, and monitor the status of existing tasks.

A task can be created before take off but you can only send it once you take off.

Certain tasks have set default camera views when chosen.

To edit a task, select the task in either the 3D view or in the Task Manager. Tap Accept to apply the new settings then tap Send. If you do not send the update, the robot will continue to go to the previously set location.

Editing the currently active task pauses the current mission until the tasks are re-sent

Step 8: Send Tasks to Hovermap (Only for Autonomous Mission)

The newly created task is initially shown as “Pending“, which means the coordinates are not yet sent to Hovermap. You can send a task as soon as it is created or create a list and send them all at once.

Once you click Send, you will hear an audio message indicating that the robot has started to move and the task list is updated to remove the “Pending” text. The task being actively executed by Hovermap is marked as “Current”. When you reach the end of the current task, the task turns grey and the app moves on to the next queued task.

The following color indications are used:

Step 9: Switch to Pilot Assist Mode (Only for Autonomous Mission)

If pilot intervention is required at any point during an autonomous mission, tap the Pilot Assist button then confirm the action when prompted.

You need to be connected to the Hovermap’s Wi-Fi network to switch from Autonomous to Pilot Assist mode via the app.

If you have lost Wi-Fi connection to your Hovermap, switch out of Hovermap mode and back again twice. When Hovermap detects that the flight mode switch is toggled out of Hovermap mode and back twice, it will take the system out of Autonomous mode so you can manually control your drone using the remote controller.

Refer to “Hovermap Control Indicators“ in the Emesent Commander User Interface section for more information.

Rally Point

Once you switch to Pilot Assist mode, the rally point (if set) is erased. A rally point is a temporary point where the robot returns in case of an error or loss of connection. This allows you to re-establish Wi-Fi communications, take control of your robot, and make the necessary corrections so you can proceed with your mission, or return home. Also, any incomplete tasks are shown as Aborted but will remain in the Task Manager. To switch back to Autonomous mode, send new waypoint(s) or resend incomplete tasks to continue the mission.

When you send waypoints in Pilot Assist mode and are away from home, you will be asked if you want to set a new rally point.

Step 10: Return to Home (For Pilot Assist and Autonomous Mission)

Tap the Return Home button then confirm the action when prompted. Do this when you have completed your mission or during various scenarios such as low battery levels or loss of connection.

You will hear an audio message and the Status Bar shows Running - Going Home to indicate that the process has started. In the 3D view, a purple line appears which corresponds to the path the robot will take to go back. At this point, you can abort or switch to Pilot Assist mode.

The return to home path may not be the shortest path to the starting point. Instead, it retraces the previously navigated path considered safe and achieved by the robot.

It might appear that the robot is taking an indirect route home, especially when an apparently obstacle-free straight path exists. This intentional behavior ensures that the robot returns via a path that has already been explored and deemed safe rather than potentially encountering unknown obstacles on a new route.

Once you have reached home, you will hear an audio message. Ensure the area around the robot is clear then tap the Land button. Tap Confirm when prompted. The Status Bar then shows Running - Landing.

It is strongly recommended to use this method of landing as it also automatically disarms the drone once it has landed.

Step 11: Disarm the Drone (For Pilot Assist and Autonomous Mission)

As with the previous step, the drone automatically disarms once it lands if using the app’s Land button.

Another option is to disable the Shield and immediately throttle down (with no other stick input) to land the drone. Then, continue to hold the throttle down until the drone disarms.

The Hovermap does not support disarming the drone in this way. If absolutely necessary, landing the drone using the remote control should only be done by experienced pilots. It is important to remember that, with the drone still armed and Shield disabled, any stick inputs will be obeyed. Therefore, the only necessary action is to hold the throttle down until the drone disarms.

Step 12: Stop the Scan

Once you have safely landed and disarmed your robot, tap the Stop Scan button to end the mission. The Status Bar shows Shutting Down then changes to Standby once the scan has stopped.

Step 13: Start a New Scan (Optional)

Optionally, tap Start Scan to begin another scan using the same name and configuration while skipping the Mission workflow.

To go back to the main landing page, tap the Hamburger button on the upper-left then select New Mission.

Step 14: Transferring Scan Data from Hovermap

There are two main methods to transfer scan data from Hovermap:

1. Automatic USB Offload:
   Insert a USB drive into Hovermap. The most recent scans will automatically begin transferring, no user action required. The status LED will flash blue while the transfer is in progress and stop once complete.

2. Web UI Transfer (USB or Wi-Fi):
   Connect to Hovermap via the Web UI for more control over scan transfers. From the interface, you can:

   • Choose to transfer scans to a connected USB drive or via Wi-Fi

   • Select specific scans to transfer

   • Re-transfer scans that have already been offloaded

Step 15: Processing your Data

Once your scan data has been transferred, you can process it using Emesent Aura.

Alternatively, you can process scans directly onboard Hovermap without exporting to Aura. For detailed instructions on onboard processing, refer to Mission Review and Reports.

Scans processed onboard Hovermap will have different accuracy than scans processed in Aura. To understand the difference, please refer to our Aura vs Hovermap Onboard Processing Accuracy Comparison.