This paper describes the design of an indoor experimental setup for evaluating autonomous guidance and control algorithms for agile aerial vehicles operating in challenging 3D environments and flight conditions. The setup is based on a vision tracking system which dispenses the need for onboard instrumentation making it possible to use highly miniaturized R/C rotorcraft and airplanes. Thanks to the small scale and the indoor setting it is possible to create realistic testing conditions in a controlled fashion. The facility will help develop a methodological framework and benchmark to evaluate the performance of planning algorithms. In addition, the experimental setup provides high quality flight data needed to accurately model small-scale aircraft. It also, provides a unique environment to study human pilot performance and conduct interactive experiments involving piloted and autonomous vehicles.