> For the complete documentation index, see [llms.txt](https://wiki.zephyr-sim.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://wiki.zephyr-sim.com/getting-started/scenarios/yard.md).

# Yard

## Introduction

This quaint, mid-sized house on the prairie features a wide-open surrounding area and a yard littered with obstacles.

The Yard scenario consists of two modules:

1. Free Flight
2. Basic Exploration

<figure><img src="https://1836517361-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fb4gMJ8PjT5QccaZNi3oB%2Fuploads%2FbBWgDKVI7GFDUnozUr5v%2Fimage.png?alt=media&amp;token=66f6d51b-ac74-487d-8d9a-2f2f93600e62" alt=""><figcaption></figcaption></figure>

## Drone Roster

Every module in this scenario has the following drone roster:

<details>

<summary>Drone Roster</summary>

* 3DR Solo
* AG-6A
* Alta X
* ANAFI USA
* Arrowhead
* Avata 2
* Bebop 2
* EVO II
* EVO Max 4T
* HD Racer
* Inspire 1
* Inspire 2
* Lemur 2
* Loki Mkii
* Matrice 200
* Matrice 30
* Mavic Pro
* Phantom 3
* Phantom 4
* Skydio 2
* Syma X5C
* Titan
* Typhoon
* X Star
* X10
* X2D

</details>

## Module Breakdowns

### Basic Exploration

This module requires you to complete multiple objectives of varying type. The order you complete the objectives is in up to you. The objectives are:

* Hover over the house
* Hover over the hot tub for 5 seconds
* Make a quick loop in front of the house
* Look at the car
* Land

<figure><img src="https://1836517361-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fb4gMJ8PjT5QccaZNi3oB%2Fuploads%2FehpHpTHK33tNeZZQtu8l%2Fimage.png?alt=media&amp;token=39502608-308b-41be-942c-c03c121ca590" alt=""><figcaption></figcaption></figure>

<figure><img src="https://1836517361-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fb4gMJ8PjT5QccaZNi3oB%2Fuploads%2FsZPgKNWzFxyx41leobZW%2Fimage.png?alt=media&amp;token=275ce142-34c2-4fae-a252-2fb83d432479" alt=""><figcaption></figcaption></figure>

<figure><img src="https://1836517361-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fb4gMJ8PjT5QccaZNi3oB%2Fuploads%2FEKkY6gnZ6ApL3vb9teSN%2Fimage.png?alt=media&amp;token=90c3f9cd-d192-4c53-b54f-8875384361ab" alt=""><figcaption></figcaption></figure>

<figure><img src="https://1836517361-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fb4gMJ8PjT5QccaZNi3oB%2Fuploads%2FrVuLlBSO0vQ2CmpmlBYT%2Fimage.png?alt=media&amp;token=c668913b-18f2-42d6-b013-5ff379a893f1" alt=""><figcaption></figcaption></figure>