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 within that challenge; points for lower levels in the same challenge are not cumulative. The Payload challenge is the exception, where points are awarded for each completed sub-task.

Total Possible Reconnaissance Score: 40 Points

Category	Maximum Points
Basic Sensor Integration	2 Points
Barometric Pressure (BMP180)	Up to 4 Points
Accelerometer/Gyro (MPU-6050)	Up to 6 Points
LiDAR (TF-Luna)	Up to 8 Points
Camera	Up to 5 Points
Payload Manipulation	Up to 15 Points
Total	40 Points

Scoring Rules

• 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 and Level 3 of the Barometric Pressure challenge, you will receive only the Level 3 score.
• 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.
• If you do not feel confident in your ability to remotely pilot the drone while taking sensor readings, you may choose to walk your drone through the course. All interactions with the drone still must be triggered remotely. This will incur a penalty of halving your point total for this section, rounded up.

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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 4 Points)

Demonstrate use of the BMP180 sensor for atmospheric and altitude measurements.

Score	Level	Criteria
1 Point	1	Read and display the current ambient barometric pressure.
2 Points	2	Fly to a designated target position and read the ambient barometric pressure at that location.
3 Points	3	Use the pressure reading to calculate and display the drone's approximate height above sea level.
4 Points	4	Track and log changes in the drone's height over time during flight.

Accelerometer/Gyro (Up to 6 Points)

Demonstrate use of the MPU-6050 for motion tracking.

Score	Level	Criteria
1 Point	1	Get and display a single, valid acceleration and gyroscope reading during flight.
2 Points	2	Log and display multiple acceleration and gyroscope readings over a period of time.
4 Points	3	Log and graph the acceleration and gyroscope readings on the base station in real-time.
6 Points	4	Log, graph, and integrate readings over time to estimate the drone's absolute position and rotation throughout its flight.

What is "Integration"?

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 8 Points)

Demonstrate use of the TF-Luna LiDAR sensor for distance measurement and mapping.

Score	Level	Criteria
2 Points	1	Land at a target location and accurately read the distance to a single designated object.
3 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.
5 Points	3	Land and spin continuously to map the surface, displaying the raw data on the base station.
6 Points	4	Land, spin, and map the surface, graphing the result as a 2D map on the base station.
8 Points	5	Land, spin, and create a graphed 2D map that uses gyroscope data to improve the map's accuracy.

Camera (Up to 5 Points)

Demonstrate the ability to capture and transmit image data.

Score	Level	Criteria
1 Point	1	Land on a target and transmit a clear picture of the surface below the drone.
2 Points	2	Hover over a target and transmit a clear picture of the surface below the drone.
4 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).
5 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 15 Points - Cumulative)

This special challenge assesses your ability to interact with and transport a payload. Points are cumulative.

Score	Task	Criteria
+2 Points	Grab	Land on the payload cage and successfully attach a payload to your drone's magnet for at least 5 seconds.
+2 Points	Remove	Successfully lift the payload and remove it from the payload cage.
+3 Points	Transport	Fly to and land at a designated target location while still carrying the payload.
+4 Points	Drop & Land	Successfully drop the payload into a designated target box and then land the drone safely in a final target location.
+4 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 the drone safely in a final target location.

tip

If you drop a payload, you can always get another.