This paper presents a payload designed to perform semi-autonomous contact inspection tasks without any type of positioning system external to the UAV, such as a global navigation satellite system (GNSS) or motion capture system, making possible inspection in challenging GNSS- denied sites. This payload includes two LiDAR sensors which measure the distance between the UAV and the target structure and their inner orientation angle. The system uses this information to control the approaching of the UAV to the structure and the contact between both, actuating over the pitch and yaw signals. This control is performed using a hybrid automaton with different states that represent all the possible UAV status during the inspection tasks. It uses different control strategies in each state. An ultrasonic gauge has been used as the inspection sensor of the payload to measure the thickness of a metallic sheet. The sensor requires a stable contact in order to collect reliable measurements. Several tests have been performed on the system, reaching accurate results which show it is able to maintain a stable contact with the target structure.