but still lacks the power to make it off the planet. The Doctor decides to fire the golden arrow into the engines to give the ship a power boost to reach orbit. Since Robin's arm is injured (and the Doctor cheated during the archery contest), the Doctor, Clara, and Robin work together to fire the golden arrow from the contest into the ship, allowing it to reach orbit and harmlessly detonate. As he prepares to leave, the Doctor admits that Robin will be remembered as a legend rather than as a man which Robin is content with. When the Doctor continues to find Robin's story hard to believe, Robin, having learned of the Doctor's history from Clara, points out that the Doctor is of a similar background who started his adventures for the same reasons as Robin did. The Doctor and Robin mutually deny they are heroes; Robin suggests that their role is to inspire others to be heroes in their name. The Doctor and Clara depart; the Doctor leaving Robin with Maid Marian, who was a prisoner freed in the revolt. Continuity Sceptical about the reality of Robin Hood, his men and their environment, the Doctor initially believes that he and Clara might be in a miniscope. A miniscope was featured in the Third Doctor story Carnival of Monsters (1973). Production Writing In an interview with Doctor Who Magazine, writer Mark Gatiss stated that his intent with the episode was "to do the Doctor and Robin Hood in 45 minutes". He went on to state: "The premise is inherently funny, but I didn’t think of it as the funnier episode when I was doing it. It’s still asking big questions. But it’s definitely more frivolous." Filming The read-through for the episode was on 20 March 2014. Filming for the episode began on 25 March 2014, with location filming taking place in Fforest Fawr on 15 April 2014, and later at Caerphilly Castle on 17 April. Both Fforest Fawr and Caerphilly Castle had previously served as locations for Doctor Who, the former as a setting for scenes from "The Stolen Earth" and "Journey's End", and the latter for "Vampires of Venice" and "Nightmare in Silver". Several external shots of Bodiam Castle were also used. Filming completed on 3 May 2014. One of the images of the Robin Hood myth that the Doctor shows to the real Robin is that of