In autonomous skills challenge is it acceptable for a team to code their drone to fly under the first arch, through the first keyhole, loop back around the keyhole and back through the arch, and then continue going under the arch and through the keyhole repeating that pattern until time is up? I do not see anything that says we can't. The only thing I read is that teams can't do the same thing over and over like looping an arch, but can do can arch, keyhole, arch, keyhole, etc.
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Official Q&A: Aerial Drone Competition 2023-2024
1952: autonomous skills
Answered by committee
Per Rule <AM9> Teams may repeat the arch gate and keyhole gate tasks to earn additional points, but may not use the same field element twice in a row. Therefore, it is acceptable to go under the arch and through the keyhole repeating that pattern as stated in your question.