> For the complete documentation index, see [llms.txt](https://docs.theseus.us/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.theseus.us/cyclops/system-validation/flight-test/in-the-loop-flights.md).

# In-the-loop flights

## Flight 3 & 4 - In the loop

The goal of these flights is to progressively start relying on Cyclops for navigation. Cyclops works by providing a position estimate from visual data and correcting drift using the map matcher. For these flights you should take off using GPS, then switch GPS off to let your UAV navigate using Cyclops.

{% hint style="info" %}
The [GPS/VPS switch script](/cyclops/autopilot-integration/ardupilot/gps-vps-switch-script.md) is the easiest way to switch between using GPS and Cyclops positions.
{% endhint %}

### Success Criteria

* Cyclops position updates appear on Vozilla and match mission plan
* UAV navigates with Cyclops in the loop while GPS input is disabled

### Mission Plan

We recommend you repeat the same mission plan from the ride-along flights to minimize variables while bringing Cyclops in the loop.

### Before the flight

Refer to the [pre-flight checklist](/cyclops/system-validation/pre-flight-checklist.md).

### During the flight

Typical operation for the first flight with Cyclops in the loop:

* Take off using GPS if available
* Fly on GPS until mission altitude is reached
* At the first waypoint, switch to Cyclops position (enable Cyclops, switch GPS off)
* Monitor Cyclops and GPS tracks on Vozilla.

Your aircraft should now be navigating using Cyclops' visual position estimate. Map matcher positionupdates will appear as "jumps" on the aircraft position on your GCS (seen in green below):

<figure><img src="https://2060891120-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FhzvlBbeiwnrjdGDAaBcQ%2Fuploads%2FhtG4g3GvFAkmcuRlKzbT%2FScreenshot%202026-09-02%20163835.png?alt=media&amp;token=c9d55c52-42ae-4491-814c-7863a36870f6" alt="" width="563"><figcaption></figcaption></figure>

### After the flight

* Connect your device to your laptop running Vozilla to synchronize logs
* Review the performance under the Vozilla [Flights](/vozilla-gcs-software/vozilla-app/flights.md) page.

{% hint style="warning" %}
If anything seems off (UAV behaving erratically, inaccurate Cyclops position), default to safety and fall back to another method of navigation (e.g., GPS, manual).
{% endhint %}