Sensors and Reconnaissance
This category assesses a team's ability to integrate sensors, gather data, and perform complex tasks based on that data. For most challenges, points are awarded based on the highest level of difficulty achieved; points for lower levels in the same category are not cumulative. The Payload challenge is an exception, where points are awarded for each completed sub-task.
Total Possible Reconnaissance Score: 30 Points
| Category | Maximum Points |
|---|---|
| Basic Sensor Integration | 2 Points |
| Barometric Pressure (BMP180) | Up to 8 Points |
| Accelerometer/Gyro (MPU-6050) | Up to 12 Points |
| LiDAR (TF-Luna) | Up to 15 Points |
| Camera | Up to 10 Points |
| Payload Manipulation | Up to 25 Points (Special) |
- For all challenges except Payload, your team will be awarded points only for the highest tier you successfully complete. For example, if you complete Level 2 (4 points) and Level 3 (6 points) of the Barometric Pressure challenge, you will receive 6 points, not 10.
- The Payload challenge is cumulative. You earn points for each sub-task you complete.
- All tasks must be demonstrated to a judge's satisfaction. The drone must perform the action, and the resulting data must be correctly displayed on the base station where applicable.
Basic Sensor Integration (2 Points)
This is a foundational check to ensure your system is working.
| Score | Criteria |
|---|---|
| 2 Points (Pass) | The base station successfully receives and displays valid data from at least one sensor on the drone. |
| 0 Points (Fail) | Communication between the drone and base station is not established, or no valid sensor data is displayed. |
Barometric Pressure (Up to 8 Points)
Demonstrate use of the BMP180 sensor for atmospheric and altitude measurements.
| Score | Level | Criteria |
|---|---|---|
| 2 Points | 1 | Read and display the current ambient barometric pressure. |
| 4 Points | 2 | Fly to a designated target position and read the ambient barometric pressure at that location. |
| 6 Points | 3 | Use the pressure reading to calculate and display the drone's approximate height above sea level. |
| 8 Points | 4 | Track and log changes in the drone's height over time during flight. |
Accelerometer/Gyro (Up to 12 Points)
Demonstrate use of the MPU-6050 for motion tracking.
| Score | Level | Criteria |
|---|---|---|
| 2 Points | 1 | Get and display a single, valid acceleration and gyroscope reading during flight. |
| 4 Points | 2 | Log and display multiple acceleration and gyroscope readings over a period of time. |
| 8 Points | 3 | Log and graph the acceleration and gyroscope readings on the base station in real-time. |
| 12 Points | 4 | Log, graph, and integrate readings over time to estimate the drone's absolute position and rotation throughout its flight. |
Don't worry if you haven't taken calculus! In this context, "integration" is just a fancy word for repeatedly adding up small changes over time.
- Your accelerometer gives you acceleration (how quickly speed is changing).
- If you multiply acceleration by a tiny amount of time (like the time between sensor readings), you get a small change in velocity. If you keep a running total of these small changes, you can estimate your drone's current velocity.
- If you do the same thing with velocity (velocity × time), you get a small change in position. Keep a running total of those changes, and you can estimate your drone's position!
This process allows you to go from relative sensor readings (like "I'm accelerating forward") to an absolute estimate (like "I am 5 meters in front of where I started"). The same logic applies to the gyroscope to find the drone's absolute rotation.
LiDAR (Up to 15 Points)
Demonstrate use of the TF-Luna LiDAR sensor for distance measurement and mapping.
| Score | Level | Criteria |
|---|---|---|
| 3 Points | 1 | Land at a target location and accurately read the distance to a single designated object. |
| 6 Points | 2 | Land, read the distance to a target, spin 180°, read the distance to a second target, and correctly add the two values in your code. |
| 9 Points | 3 | Land and spin continuously to map the surface, displaying the raw data on the base station. |
| 12 Points | 4 | Land, spin, and map the surface, graphing the result as a 2D map on the base station. |
| 15 Points | 5 | Land, spin, and create a graphed 2D map that uses gyroscope data to improve the map's accuracy. |
Camera (Up to 10 Points)
Demonstrate the ability to capture and transmit image data.
| Score | Level | Criteria |
|---|---|---|
| 3 Points | 1 | Land on a target and transmit a clear picture of the surface below the drone. |
| 5 Points | 2 | Hover over a target and transmit a clear picture of the surface below the drone. |
| 8 Points | 3 | Transmit a real-time video stream from the drone to the base station at a rate less than 12 frames per second (fps). |
| 10 Points | 4 | Transmit a real-time video stream from the drone to the base station at a rate of 12 fps or greater. |
Payload Manipulation (Up to 35 Points - Cumulative)
This special challenge assesses your ability to interact with and transport a payload. Points are cumulative.
| Score | Task | Criteria |
|---|---|---|
| +5 Points | Grab | Land on the payload cage and successfully attach a payload to your drone's magnet for at least 5 seconds. |
| +5 Points | Remove | Successfully lift the payload and remove it from the payload cage. |
| +5 Points | Transport | Fly to and land at a designated target location while still carrying the payload. |
| +10 Points | Drop & Land | Successfully drop the payload into a designated target box and then land the drone safely in a final target location. |
| +10 Points | Fancy Maneuvers... | Fly with the payload through a loop approximately 1.5m off the ground, drop the payload into a designated target box, and then land teh drone safely in a final target location. |
If you drop a payload, you can always get another.
We don't actually expect anyone to complete the last one... if you do - good on you! But it isn't included in the total possible maximum for this category since we don't think anyone will actually pull it off.