Pre-Flight Checklist

☐ Flight Plan Preparation

• Incorporate convergence maneuvers for best IMU initialization:
  
  • Take off vertically to mission altitude.
  • Fly forward laterally for at least 5 seconds at 5 m/s or faster.
  • Perform at least one figure eight at constant altitude.
  • After mapping, fly forward again for at least 5 seconds at 5 m/s or faster before landing.
  • Land vertically with minimal lateral motion.

☐ Mission Area Assessment

• Choose a take-off and landing location with strong GNSS signal quality.
• Avoid proximity to trees, buildings, or reflective surfaces.
• Confirm no nearby interference from radios or obstructions.

☐ High Altitude Flight Preparation

• If flying above 50 meters AGL and using a Livox Avia, enable High Sensitivity Mode:
  
  • GUI → Settings > LiDAR Service → Enable “High Sensitivity Mode”
• For XT-32 scanners, no change is required.

☐ Base Station Setup (if applicable)

• Set up base station in an open area with clear sky view.
• Ensure all GNSS constellations are recorded (GPS, GLONASS, Galileo, BeiDou, QZSS, Navic).
• Confirm output format is compatible with PCMasterPro.
• If using a public base station, ensure it is within 40 km of the flight area (preferably closer).

☐ Connect USB Modem

• Insert the USB modem into an available USB port.
• Ensure the modem has a valid SIM card (not provided by Inertial Labs).
• Avoid ports already in use by the camera or other peripherals.

☐ Power Connection

• Connect RESEPI to power via one of the following:
  
  • XT60
  • Skyport/Other
  • Binder Connector
  • Ethernet (GEN-II only)
• Ensure power supply is 9–36VDC (up to 45V max) with 24–28W available.

☐ Web Interface Access

• Connect to the RESEPI’s Wi-Fi.
  • SSID is printed on the unit label.
  • Password: LidarAndINS
  • Access the Web GUI at 192.168.12.1 using a laptop or mobile device.

☐ Data Management

• Offload all data and flights from the USB drive and/or SSD to ensure adequate space.

☐ USB and Storage Verification

• Use only the provided RESEPI-certified USB drive.
• Confirm that the USB is securely inserted into a supported port.
• Avoid using ports reserved for other onboard components (e.g., camera).

☐ Firmware Check

• Ensure the RESEPI is running the latest firmware version.
• You can find the firmware version in the top right corner of the GUI.

☐ Connect to Base Station

• Open the GUI → Settings > Connectivity > RTCM Corrections.
• Enter base station connection info (refer to base station documentation).
• Click “Save” before refreshing the page.

☐ Verify Base Station Connection

• Go to the GUI Status page.
• Confirm latitude, longitude, and altitude appear under base station section.
• If not shown, revisit RTCM Corrections settings and re-enter values.

☐ Vehicle to IMU Rotation

• Go to Settings > Geometry > Vehicle to IMU Rotation.
• Verify the values match the RESEPI’s mounted orientation.
• Click “Save” after adjusting if needed.

☐ Antenna Lever Arm Offsets (REQUIRED)

• Navigate to Settings > Geometry > IMU to Antenna Offset.
• Enter precise lever arm values (X, Y, Z) in meters.
• RTK mode does not estimate lever arm — manual input is required for accuracy.

☐ GNSS Time Fix (REQUIRED)

• Securely connect the GNSS antenna to RESEPI.
• Power on the system in an area with visible sky.
• In the GUI, confirm the INS Status shows:
  
  • Valid current date and time
  • Message: “Ready to log”
• Do not begin recording until this message appears.

☐ Camera Trigger Configuration

• Set the trigger period based on your flight speed:
  
  • 5 m/s → 5 seconds
  • 10 m/s → 2.5 seconds
• Avoid high trigger rates at slow speeds to prevent blur or oversampling.
• Apply trigger settings through the GUI.

☐ Final System Check

• Confirm all connections are secure: power, GNSS, USB, trigger, modem, etc.
• Verify LiDAR sensor is clear of any physical obstructions.
• Confirm USB/SSD is visible in the GUI.
• Keep drone static during recording startup to allow IMU alignment.

You are now ready to mount the RESEPI on the drone and take off for the mission.