The competition held on March 20 and 21 in Taiwan. There are various events in the competition. Please refer to the official site : http://www.iaa.ncku.edu.tw/~whlai/uav/2010/
One of the events is Beyond-Vision-Range Flight. The airplane should fly far away and take some pictures of ground targets. The locations of tragets in the competition are shown in the following figure. The farest waypoint is about 3 km from home location.

We used EasyStar as the vehicle and UAV devBoard as the contorller. The plane crashed twice due to EMI problem before the successful flight. Because of the strong wind, it deviated from the expected flight path and disappered in the sky for about half an hour. When we were going to give up and the referee had asked the next team to take off, it suddently showed up above the home location. The crowd cheered as the plane safely landed on the runway.