a. Indoor dynamics competition  
The indoor flight dynamics competition is open for all categories of MAV and there will be a separate valuation for each category.

The MAV takes off close to two posts and flies around these two posts in a vertical 8-shape trajectory (fig. 5.1) as often as possible for a duration of 3 minutes time. The distance between the two posts amounts to 8 m. The height of the posts is 2 m. The horizontal trajectory is a 3 m wide path. The classification will be done by a barrier tube on each side of the path. 

Each fully completed figure eight in between the barrier results in 2 points for the mission score M. An extra 2 score points will be rewarded once for showing dynamic manoeuvres such as a looping or a 360° roll. These points will only be given if at least one complete figure has been flown.

Flying time and number of flights
The allowed flying time is 3 minutes. Each team will be given the chance to fly twice. The better score will be counted. The second flight time will be in the same sequence as in the first round.

b. Indoor autonomy competition
Like the indoor flight dynamics competition the indoor autonomy competition (fig. 5.3) is open for all categories of MAV and the valuation is separate for each category. The main goal of this competition is to demonstrate the MAV’s capabilities of fulfilling a sophisticated mission including operation inside a small building with a covered ceiling. A video transmission from the MAV to a ground station is required for this mission.

The mission starts at point 1 behind a wall with a height of 2.5 m preventing the operator from seeing the MAV on the mission. Having overcome the wall, the MAV approaches the door (point 2). After entering the building, the MAV has to identify two targets (printed letters/numbers, font size 700, Arial, point 3), one of them is placed on one of the building’s inner walls (vertical target), the other on is placed on the floor (horizontal target).

The MAV leaves the building vertically through a tilted chimney (point 4) and hovers for at least 10 seconds above the building before it lands on the top of the roof (point 5). After another 10 seconds the MAV flies to point 6 and picks up an object weighting about 20 g, which is shown in fig 5.2. With this object the MAV has to fly through the gate (point 7) and should release the object in the defined release zone (point 8).

The mission ends at the moving landing zone at point 9. The platform moves slowly in a circular shape. An alternative, stationary landing platform will be provided. Both platforms are marked with a black cross (0.2 m).  

Depending on the MAV’s capabilities, the mission can be simplified at two critical points. Instead of starting the mission behind the wall, the operator may stand in front of the wall and start from point 1*. Furthermore, the building can be left through a window instead of the way through the tilted chimney (point 4*). 

Dimensions

 Table 5.1: Dimensions of objects for indoor mission

a. Outdoor dynamics competition
The main idea of the outdoor flight dynamics competition is to demonstrate the progress of MAV design relating to high dynamics with precise navigation at the same time. This competition is again open for all categories of MAV with a separate valuation.

The course comprises two arches (shown in fig. 6.2) in an L-type placement with spacing of 50 m. From the starting point the MAV passes through the arches A and B, performs a 180° turn, flies back through the arches (B, A) turns and starts the course again until a flight duration of 4 minutes has been reached. Each fully completed sequence (AB or BA) results in 4 points for the mission score M. If only one arch has been passed during the sequence 1 point will be rewarded.

The dotted line in fig. 6.1 shows an alternative flight path, in case the MAV requires a larger turn radius. An extra 2 score points will be rewarded once for showing dynamic manoeuvres such as a looping or a 360° roll. These points will only be given if at least one complete figure has been flown.

Flying time and number of flights
The allowed flying time is 4 minutes.

Each team will be given the chance to fly twice. The better score will be counted. The second flight will be in the same sequence as in the first round.

Figure 6.2 depicts a sketch of an arch. The arches are set-up by two 6 m high posts with a spacing of 6 m. Coloured plates are used on the outsides of the arches to improve the visibility, while the upper limit is marked by a red and white barrier tape. 

Scoring example:
A video based fixed wing MAV with a span width of 38 cm and commercial design completes 4 full sequences in the given time and shows a looping afterwards.

• Size factor:                 S = 2.62
• Level of autonomy:     A = 1
• Design factor              D = 1
• Mission scores:           M = 18 (for 4 full sequences + looping) 

Final score :   T  = S ⋅ A ⋅ D ⋅ M = 47.16  

b. Outdoor autonomy competition
In the following competition it is allowed to use more than one aircraft in the same flying time for different mission tasks. If only one aircraft is used for all tasks 1 extra point will be rewarded.

During the outdoor autonomy competition, which is open for all categories of MAV (separate valuation), the MAV has to identify a horizontal and vertical target, which are placed outside of the operator’s range of sight, fly through one arch, drop a ball at a certain point and land in a predefined area.

The MAV takes off from the airfield, passes the airfield buildings and heads toward the first target area. In this area two optical targets have to be identified. Once these targets have been identified, the MAV proceeds with flying through Arch A or Arch B. Figure 6.3 shows the two arches and the mission points for the different gaps. Only one passing counts. The positions of the arches are defined by WGS84 coordinates. Subsequently the MAV flies to the drop zone, where it drops a ball, which is shown in fig. 6.5. Finally the MAV lands in a pre-defined area on the airfield.

Vertical and horizontal target
The targets consist of printed numbers or letters which are placed in the target area (black on white background, approx. 0.8m, Arial). A clear image of each target results in 2 points for the mission score M. For all teams the detected horizontal target will be important for the position of the ball drop. For teams with automated flight controls the number will stand for a missing coordinate. For teams with video based controls the letter will stand for the position where to drop the ball. This position will be visible from the air. 

Drop zone
The drop zone is defined by WGS84 coordinates or letters on the ground. The coordinates are known except for one missing number. This number has to be detected and afterwards the mission has to be adjusted so the ball can be dropped at the right coordinates. There will be more than one drop zone. Example of the given coordinates (the final set of coordinates will be given during the competition):

N  52.52421
E  10.46X00

In case of video based controls the letter of the drop zone is the reference for the drop position. If the letter or number could not be detected in the task before an alternative reference will be given.

If the ball is dropped in the inner circle (2 m diameter), 3 points are achieved for the mission score M. A drop in the middle circle (5 m diameter) results in 2 points, inside the outer circle (15 m diameter) 1 point will be rewarded. In order to offer a better view of this part of the mission to the spectators, the ball is to be set-up by a spherical body with a diameter of 15 to 20 mm and an additional coloured flag on its tail, which should be at least 2 cm wide and 20 cm long.

Precision landing
The landing zone comprises five fields with 1, 2 or 3 points and is shown with scales in fig.6.6. The corners are defined by WGS84 coordinates. The approach to this zone is made from the West or the East (see figure 6.4). Landing outside this zone results in 0 points. The landing zones will be marked by clearly visible cones. The aircraft that is used for landing also has to be used for at least one other task.