See Arpoador from the air — the rock between Ipanema and Copacabana.
The 25- and 40-minute closed-door flights include Arpoador with Copacabana. Doors-off flights of 30 and 40 minutes also travel over Arpoador; the 20-minute doors-off flight does not. You see the rock from the air as the coast turns, not from a hover over the lookout.
Book a 25-minute closed-door tour, or a 30-minute doors-off tour or longer, to see Arpoador from the air.