# Infrastructure Inspection

The LR1 and A7R4 can easily be configured to perform inspections on power lines, wind turbines, and other infrastructure!

{% embed url="<https://www.youtube.com/watch?v=A-CbErLYLuw>" %}
How to use LR1 + Astro for inspection
{% endembed %}

<figure><img src="/files/LyXLlc4vkw6XMViihuLD" alt="" width="563"><figcaption><p>Sample Inspection Image (75mm Lens)</p></figcaption></figure>

<figure><img src="/files/bzJh2XGPk5ecXM0rcYFx" alt="" width="563"><figcaption><p>Cropped detail section of above photo</p></figcaption></figure>

## Gimbal Setup

For inspection use cases, we recommend using a long lens to maintain a safe distance from your subject. We have found that both the Sony FE 50mm F1.8 and Samyang 75mm F1.8 (LR1 only) work well.

{% hint style="info" %}
The Samyang 75mm may need a [lens firmware update](https://www.samyanglens.com/en/support/support-download.php?type=3\&model=SONY) to work well in autofocus mode with the LR1
{% endhint %}

After changing the lens, make sure to balance the gimbal, covered in this section:

{% content-ref url="<https://github.com/freefly-systems/wiki-public-ecosystem/blob/main/lr1-payload/lr1-lenses-and-expansion/changing-lenses/README.md>" %}
<https://github.com/freefly-systems/wiki-public-ecosystem/blob/main/lr1-payload/lr1-lenses-and-expansion/changing-lenses/README.md>
{% endcontent-ref %}

## Camera Setup

We recommend the following camera settings for sharp, detailed images:

| Name               | Setting Range     | Explanation                                                                                                                         |
| ------------------ | ----------------- | ----------------------------------------------------------------------------------------------------------------------------------- |
| Shutter Speed      | 1/4000 to 1/100th | A faster shutter speed reduces motion blur                                                                                          |
| Aperture           | F5 or higher      | Higher the aperture makes more parts of the image in focus                                                                          |
| ISO, White Balance | Auto              | Auto for these usually work well                                                                                                    |
| JPEG Size          | Large             | More detail = better!                                                                                                               |
| Image Storage      | External USB      | Images are geotagged when saved to the external USB. This allows images to be associated with specific assets like power line poles |

All of these parameters can be setup in AMC, accessed by the 3 lines under the shutter button\
\
Additional settings we recommend:

* Focus: Auto or Tap-to-focus
* Focus mode: Center or Zone (if not using tap to focus)
* Overlay: Reticle

## Precise Control

For inspection work with longer lenses, use Position Slow Mode with Pilot Pro's rate knobs to get smooth, precise control over aircraft and gimbal movement.

{% content-ref url="/pages/QgvDQi0sAfwyryFxa6X4" %}
[Rate Controls](/ecosystem/controller/pilot-pro/operating-handbook/rate-controls.md)
{% endcontent-ref %}

## #protips

{% hint style="warning" %}
DIU Blue Astros come with stealth logging enabled, which stops GPS data from being written to imagery and logs. [Stealth logging must be disabled](https://freefly.gitbook.io/astro-public/other-user-manuals/ecosystem/diu-blue-suas#logging) to allow GPS data to be written to photos
{% endhint %}

* Download the offline maps for the area you will be flying in
* Check the vibration isolators are in good condition before each flight
* Check the gimbal is balanced and the thumbscrews are tight

{% hint style="success" %}
Astro is resistant to electromagnetic interference created by high voltage power lines with our Compassesless algorithm! Make sure Astro is updated to 1.6 or later

Pilots should still be careful when flying close wires and towers as these can often be difficult to see
{% endhint %}

{% hint style="warning" %}
Be careful when flying under structures! Astro can lose GPS signal and drift
{% endhint %}

{% hint style="warning" %}
Be careful when flying near wind turbines! Astro can fly in winds up to 12m/s (27mph), above this Astro will trigger RTL.

The current estimated windspeed is displayed in the lower right-hand corner of AMC in flight
{% endhint %}


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