An aerial vehicle and a method of taking a measurement using a sensor mounted on an aerial vehicle. The aerial vehicle has one or more propellers and one car more motors which are selectively operable to drive the one or more propellers to rotate to cause the vehicle to fly. A sensor is mounted on the aerial vehicle. The method includes operating the one or more motors to drive the one or more propellers to cause the vehicle to fly. At a first time instant, the one or more motors are slowed down or turned off. When the one or more motors are slowed down or turned off, a measurement is taken using the sensor; at a second time instant, which is after the measurement has been taken using sensor, operating the one or more motors again to drive the one or more propellers to cause the vehicle to fly.