How to use Watch and Fly with Standoff on Skydio X10D

Watch, Fly with Standoff, and Watch from Standoff are autonomy functions designed for ISR workflows. Watch keeps the camera pointed at a selected location or TAK marker while you continue flying manually or using another autonomy function. Fly with Standoff flies toward a selected point while maintaining a configured standoff distance. Watch from Standoff combines both functions by flying to a standoff position and watching the selected point during the approach.

[info]These features are available with the Skydio X10D Cayley Tactical ISR release. Confirm that your X10D, controller, and required feature access are up to date before using these functions.[/info]

[caution]Before flight, read and follow all safety guidelines in the Skydio Safety and Operating Guide. The operator is responsible for maintaining safe aircraft operation, selecting an appropriate standoff distance, and ensuring the flight path is clear.[/caution]

Before you start

Step 1 - Update your system

Ensure your Skydio X10D and controller are updated to the supported version of Cayley Tactical ISR or later.

Step 2 - Confirm terrain data is available

Location-based autonomy functions rely on terrain awareness to function properly. Ensure the correct terrain data is available for your operating area before flight. See <terrain data article> for more information.

Step 3 - Review your standoff settings

Open Controls and Limits and review:

• Standoff Distance
• Fly to Point Speed

The default standoff distance is 50 m. Standoff distance can be configured up to 500 m in this release. A standoff distance of 0 m is not recommended for normal operations.

[note]Standoff means the drone will maintain the selected distance from the marker or point. If the drone is farther than the selected standoff distance, it will fly closer. If the drone is closer than the selected standoff distance, it will fly away until it reaches that distance.
For example, if Standoff Distance is set to 100 m and the aircraft is 40 m from the selected marker, Fly with Standoff or Watch from Standoff will move the drone away from the marker until it reaches the 100 m standoff distance. This ensures the drone behaves predictably and respects the configured standoff setting.[/note]

Step 4 - Optional: Customize controller buttons

Map Watch Location to any controller button for quick access. In this example, Watch Location is mapped to L2 so the operator can quickly lock the camera to a point of interest while continuing to fly.

How Watch works

Watch controls the camera's pointing direction. It does not control the aircraft's flight path. When Watch is active, the autonomy system keeps the camera pointed at the selected location or TAK marker. You can continue flying manually or start another flight autonomy function while Watch remains active.

You can Watch:

• A static TAK marker
• A dynamic TAK marker
• A location on the ground

If a TAK marker is moving on the network, Watch will continue to point the camera at that marker. If the marker is static, Watch will keep the camera fixed on that point while you fly.

Watch a TAK marker

Step 1 - Select a TAK marker

• From the map or AR view, select the TAK marker you want to watch.

Step 2 - Select Watch

• The marker panel will open. Select Watch. 

Step 3 - Confirm Watch is active

• The Watch button changes to blue to indicate that Watch is active.

Step 4 - Fly manually or start another autonomy

• Continue flying manually or start another flight autonomy function. Watch will continue controlling the camera pointing direction.

Step 5 - Stop watching

• To stop watching, select the active Watch button again, the mapped controller button, or use the Watch autonomy quick action button on the left side of the flight screen.

Watch a location

• Use Watch Location to quickly keep the camera pointed at a point on the ground without creating a TAK marker.

Step 1 - Point the camera at the desired location on the ground

• Fly or adjust the camera until the location you want to watch is near the center of the image.

Step 2 - Start Watch Location

• Select Watch Location or press the controller button you mapped to Watch Location.

Step 3 - Continue flying

• The camera will remain pointed at the watched location while the vehicle remains under your control.

[info]Watch Location is useful when you need to quickly pause the camera on something you see, continue flying, and then decide whether to add a TAK marker or take another action.[/info]

Watch a location from the map

You can also start Watch Location directly from the map.

Step 1 - Long-press on the map

• Long-press the location on the map that you want the camera to watch.

Step 2 - Select Watch Location

• From the context menu, select Watch Location.

Step 3 - Confirm Watch is active

• The camera will point at the selected map location and continue watching that location while you fly manually or use another autonomy function.

[info] Watch Location replaces the previous Look Here function in ISR workflows. Selecting Watch Location from the map is another way to start the same Watch Location function. The aircraft remains under your control while the autonomy system controls the camera pointing toward the selected location.[/info]

Flight controls while Watch is active

When Watch is active, you can continue controlling the aircraft. Watch maintains camera pointing toward the selected point. Use your configured control mode. In general:

• Lateral stick input orbits around the watched location
• Altitude input moves the aircraft up or down while maintaining Watch
• Forward/back input moves the aircraft toward or away from the watched location
• Yaw control is constrained because yaw input would break the watched camera orientation

[caution]Avoid overflying the watched point. If the aircraft flies directly over the watched location, the camera may need to rotate quickly to maintain Watch and the control response may feel unexpected.[/caution]

Fly with Standoff

Fly with Standoff flies the aircraft toward a selected point while maintaining the configured standoff distance.

Step 1 - Set the standoff distance

• Open Controls and Limits and set the desired Standoff Distance.

Step 2 - Set the flight speed

• Set the Fly to Point Speed.

Step 3 - Select a point

• Select a point or TAK marker on the map to open the action panel.

Step 4 - Select Fly with Standoff

• The aircraft will start a waypoint-style flight toward the selected point and stop at the configured standoff distance.

Step 5 - Monitor the flight

• Monitor the flight path, aircraft position, and camera view during the flight. Use the stop control to cancel the autonomy if needed.

[info]Fly with Standoff controls the aircraft's flight path. It does not automatically start Watch unless you select Watch from Standoff.[/info]

Watch from Standoff

Watch from Standoff combines Watch and Fly with Standoff. The aircraft flies toward the selected point at the configured standoff distance, while the camera tracks it during the flight.

Step 1 - Set the standoff distance

• Open Controls and Limits and set the desired Standoff Distance.

Step 2 - Set the flight speed

• Set the Fly to Point Speed.

Step 3 - Select a point or TAK marker

• Select the point or TAK marker you want the aircraft to watch from standoff.

Step 4 - Select Watch from Standoff

• The aircraft will fly toward the selected point and maintain camera Watch during the approach.

Step 5 - Continue watching after arrival

• When the waypoint flight finishes, Watch remains active. You can continue flying manually, orbit the watched point, move closer or farther away, or stop Watch.

[info]Watch from Standoff is useful when you want to approach a point of interest while keeping the camera fixed on it throughout the approach.[/info]

Expected behavior

• Watch is a camera-pointing autonomy.
• Fly with Standoff is a flight-path autonomy.
• Watch from Standoff combines both functions.
• Watch remains active after Watch from Standoff reaches the standoff point.
• Watch can be used with static points, static TAK markers, and dynamic TAK markers.
• You can continue flying manually while Watch is active.
• Standoff distance is enforced whether the aircraft starts closer to or farther from the selected point. If the aircraft starts inside the selected standoff distance, it will move away from the point until the configured distance is reached.

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