AprilTag Localization not affecting static coordinate system

casez

I am trying to get AprilTag localization working on the Starling 2 drone but I cannot get the fixed coordinate system to change based on the apriltag. I am able to detect it correctly, but relocalization does not work.

Here are relevant configuration files, I mainly followed the example link.

voxl-tag-detector.conf

/**
 * This file contains configuration parameters for voxl-tag-detector.
 * You can specify up to 3 cameras to do detection on simultaneously.
 * For the stereo camera pair, only the left camera is used.
 */
{
	"detector_0":	{
		"enable":	true,
		"input_pipe":	"tracking_front",
		"en_fast_mode":	true,
		"n_threads":	1,
		"en_undistortion":	true,
		"undistort_scale":	0.600000023841858,
		"overlay_name":	"tracking_tag_overlay",
		"lens_cal_file":	"/data/modalai/opencv_tracking_front_intrinsics.yml",
		"skip_n_frames":	5
	}
}

tag_locations.conf

{
        "locations":    [{
                        "id":   0,
                        "name": "landing-pad",
                        "loc_type":     "fixed",
                        "size_m":       0.17145,
                        "T_tag_wrt_fixed":      [0, 0, 0],
                        "R_tag_to_fixed":       [[0, -1, 0], [1, 0, 0], [0, 0, 1]]
                }],
        "default_size_m": 0.17145 //  0.40000000596046448
}

in voxl-vision-hub.conf I have

"en_tag_fixed_frame": true,
"en_transform_mavlink_pos_setpoints_from_fixed_frame": true

When I run

voxl-vision-hub -l

I am able to see the tags position update as it moves.

When I run

voxl-vision-hub -p

I can see the local_wrt_fixed change when the drone moves, but not when the tag moves. I would expect the local_wrt_fixed to also change with the tag moving since it is set to be [0,0,0].

I also often get a "WARNING, apriltag roll/pitch out of bounds", which appears to be a common issue.

Is there a configuration error I am missing or some way I can get the relocalization system to work?