In recent years, the use of unmanned aerial vehicles has spread across different fields of the industry due to their ease of deployment and minimal operational risk. Firefighting is a dangerous task for the humans involved, in which the use of UAVs presents itself as a good first-action protocol for a rapid response to an incipient fire because of their safety and speed of action. Current research is mainly focused on wildland fires, but fires in urban environments are barely mentioned in the bibliography. To motivate the research on this topic, ICUAS’22 organized an international competition inspired by this mission, with the challenge of a UAV traversing an area populated by obstacles, finding a target, and precisely throwing a ball to it. For this competition, the Computer Vision and Aerial Robotics (CVAR-UPM) team developed a solution composed of multiple modules and structured by a mission planner. In this paper, we describe our approach and the developed architecture that led us to be awarded the first prize in the competition.