Castle ruin Landeck: UAS-based heritage monument inspection and surveying. Flight mission: Acquire structural data for the planning of restoration. 1. Flight planning: Manual and pre-planned, GPS-based, automated flights. 2. Flight 1: Recording the outer facade. Distance to object: 5 m. Generation of oblique photographs with the highly accurate COI function (Circle of Interest). 3. Flight 2: Top view photos for orthophotos. UAS-Operation of the turret. Results: High-resolution 3D model generated with the oblique and top view photos for … … animation and visualization … … measuring … … calculation of volumes … … and reconstruction. Accurate 2D drawings can be generated from high-resolution orthographic photos. 1. On-site mission planning for recording the entire structure. 2. Flight 1: Automated waypoint flight for taking top view images. Calibrated markers for exact geo-referencing. 3. Flights 2–5: Elevation recording with overlapping images in four flights. Total data recording time: 1 hour! Results: Accurate 3D model … … and detailed … … orthophotos.