My first impulse would be to go with the 70-200mm f2.8 which sterretje mentioned. I've done a fair amount shooting with my Tamron 70-200mm f2.8, and it works fine in a lot of different situations. Small theaters, auditoriums, outdoor concerts, day and night.
At f2.8, it gives you a lot of leeway in shooting existing light, without getting too high up the ASA/ISO scale, so noise can be minimalized. Also, with the large lens opening, you will have a better chance of making your son the main subject of your pictures, by blurring the back and foreground.
By adding a little distance between you and your son, it gives him a chance to concentrate on his drill, rather than worrying about messing up while mom or dad is close by, taking pictures. It gives you both a chance to relax and stay comfortable.
With the faster lens, you will be able to use faster shutter speeds, at a given ISO, so you can freeze the rifles as they are tossed or spun by the ROTC team. If you have time or the inclination, you might want to take a few shots with a slower shutter speed to show the movement of the rifles, while the members of the team stand in fixed positions.
Not knowing all the variables you will be facing, I've got this suggestion:
I've found it really helpful to attend rehearsal/practices. It gives you the advantage of finding the best vantage points for taking the pictures you want. You will know what will happen before it happens, where to be for that perfect shot. You will know which direction people will be facing, where they will be moving, turning, etc., and when. And if you can't move around, hopefully, find the best spot to plant yourself for the event. Bring your camera and take test shots with the lenses you might want to use, from the spots you might want to shoot from. Review these test shots, to see what works and what doesn't.This will also give you a more accurate idea of what shutter speeds, ISO settings, color temp, lens focal length, places and distances you will be shooting from. By doing this, I think you will be able to answer some of your own questions, and establish a personal comfort level for your work. Then when the time comes, you will be as prepared and ready as your son.
Good Luck!
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