Is it possible to use offboard mode with AprilTag relocalisation with EKF2_AID_MASK set to 329 i.e. fusing GPS? Our drone works great with VIO only, and it works with GPS only, but I want to land on an AprilTag while outdoors with GPS fusion. I have set the AprilTag to fixed frame 0,0,0. When I switch to offboard mode, which is simply commanding a 0,0,1.5 setpoint, the drone goes somewhere else entirely

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Offboard mode with GPS and AprilTag

Unsolved Flight Core and Legacy VOXL

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Patrick Hinchey
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Is it possible to use offboard mode with AprilTag relocalisation with EKF2_AID_MASK set to 329 i.e. fusing GPS?
Our drone works great with VIO only, and it works with GPS only, but I want to land on an AprilTag while outdoors with GPS fusion.
I have set the AprilTag to fixed frame 0,0,0. When I switch to offboard mode, which is simply commanding a 0,0,1.5 setpoint, the drone goes somewhere else entirely
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