How to Safely Land and Retrieve AQUA on Water

A friendly, step-by-step guide that helps you bring your AQUA back — and know exactly what it will do at every step.

Why Water RTH Is Different (and Why We Added a Decision Tree)

On land, Return-to-Home (RTH) is simple: press a button, and the AQUA flies back to where it took off.

On water, you drift. Your kayak, SUP, or foil board moves with wind and current. By the time your AQUA returns, you are no longer where you started.

That’s why AQUA uses Lighthouse RTK positioning to return to where you are now, not just where you were. But knowing the technology is only half the story.

Predictability is key — you need to know exactly how AQUA will react in every possible scenario. That’s why we’ve built this full RTH Decision Tree below. It maps out AQUA’s “thought process” from the moment you press RTH until it lands.

🧭 AQUA RTH Decision Tree (Full Logic Flow)

Here is exactly how AQUA decides what to do, step by step. You can use this to predict its behavior in any situation.

【TRIGGER RTH】
  ├─ Manually pressed: RTH button on Lighthouse, Beacon, or App
  └─ Automatically triggered: Low battery / Out of safety range / Signal lost timeout

        ↓
【STEP 1: EVALUATE POSITIONING SYSTEM】
  ├─ Is Lighthouse RTK signal available?
  │   ├─ ✅ YES → Use the real-time Lighthouse position as the **dynamic home point** (updates continuously)
  │   └─ ❌ NO → Check if there is a **recently saved valid position**
  │       ├─ ✅ YES → Use that last known position as a temporary target. 
  │       │           Keep searching for RTK during return. If found, update the target immediately.
  │       └─ ❌ NO → **Hover in place** and wait for signal recovery or user intervention.
  │
        ↓
【STEP 2: EXECUTE RETURN FLIGHT】
  ├─ Normal RTH altitude: As low as 0.5m above water (for easy hand-reach from a kayak)
  ├─ Low-battery / Secondary takeoff RTH: Speed-limited and altitude-limited. 
  │   Only designed to bring AQUA closer for safe retrieval.
  └─ If positioning is lost again during return → Go back to STEP 1 logic.

        ↓
【STEP 3: ARRIVE NEAR THE TARGET】
  ├─ Read the "Post-RTH Behavior" preset in the App.
  │
  ├─ If set to **"HOVER" mode**:
  │   ├─ Hover near the user.
  │   ├─ User can nudge position using direction buttons.
  │   ├─ Automatically enters "close-range follow" mode.
  │   └─ Final retrieval: User **manually flips the AQUA** to stop propellers.
  │
  └─ If set to **"LAND" mode** (Default):
      ├─ Hover at a safe distance near the user.
      ├─Initiate a 15-second countdown while detecting obstacles beneath the landing point.
      │   ├─ No operation within 15 seconds → Automatically land on water.
      │   ├─ User long-presses RTH button for 1.5+ seconds → **Land immediately**.
      │   └─ User taps direction buttons → Cancel countdown and regain manual control.
      └─ After landing, propellers stop. User retrieves AQUA.

Critical Safety Logic: If AQUA cannot confirm a safe return target at any point during this process (e.g., both RTK and visual positioning are completely lost), it will land in place to prioritize AQUA safety.

Three-Step Daily Operation (Using the Decision Tree)

Step 1: Set RTH Mode to "Land"

• Open the App → RTH Settings → Select "Land".
• This is the default setting, so you usually don't need to change it unless you previously switched to "Hover."

Step 2: Press RTH and Let the Tree Guide the Flight

• Press the RTH button on your Lighthouse.
• Try to remain as still as possible (especially on a kayak or SUP).
• AQUA will follow the decision tree logic above. In "Land" mode, it will hover near you for 15 seconds, then land on the water automatically.

Step 3: Retrieve AQUA Safely

The propellers are sharp while spinning. Never grab the frame or propellers when motors are running.

• Safest method: Let AQUA land completely on a flat surface (water or ground). Wait for the propellers to stop entirely, then pick it up.
• Mid-air catch (emergency only): Carefully reach from above, hold both sides of the battery area, and quickly flip the AQUA over to stop the motors.

🎥 Video reference:

FAQ: What About the "What Ifs"?

Q: Why does AQUA sometimes land automatically right after takeoff?

• This usually happens when you use the Lighthouse to take off indoors or in an area with weak RTK signals (e.g., an indoor pool).
• According to the decision tree: AQUA ascends, waits for RTK to engage, and if it times out, it auto-lands.
• Solution: Either ensure a strong outdoor RTK signal, or use the manual hand-launch method (press the takeoff button on the battery) instead of the Lighthouse for takeoff.

Q: What if Lighthouse disconnects during the return flight?

• AQUA will use the last known valid position as a temporary target. It keeps searching for RTK while flying. If reconnected, it updates the target on the fly. If it cannot re-establish a connection, it will hover or land based on the tree's logic.

Q: I don’t want it to land on the water. Can I just grab it while hovering?

• Yes. Simply set the RTH behavior to "Hover" in the App. AQUA will return, hover, and wait for you to manually flip it to stop the motors—no automatic landing.

Q: How do I cancel an automatic landing during the 15-second countdown?

• Tap any direction button on the controller. This cancels the countdown and returns manual control to you.

• With the new firmware version, you can configure the trigger action in the app. During flight (when the device is not in Return-to-Home (RTH) mode), you can set either press and hold the Lighthouse return button for 3 seconds or single press to activate either hover or manual control mode. Once manual control mode is enabled, you can use the directional buttons on the Lighthouse to manually fly the device back to your position.

Quick Reference Card (At a Glance)

Final Thoughts: Built for Predictability

AQUA's RTH isn't a black box. The decision tree above is its real “thinking map.” We designed this logic over multiple iterations with direct feedback from water sports users, because we know that confidence comes from knowing what will happen next.

Whether you're drifting on a kayak, balancing on a SUP, or foiling across a bay, you can now anticipate exactly how your AQUA will behave.

If there's a scenario we haven't covered, or if you have your own water-landing tips, drop us a line at support@hoverair.com. We're always listening.

Wishing you safe flights and smooth retrievals. 🌊✈️