# Outdoor precission landing with April tags and GPS

Source: https://forum.modalai.com/topic/1833/outdoor-precission-landing-with-april-tags-and-gps
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2023-02-15 15:08:31 UTC by Jose Alfredo Rosas Cordova
Replies: 2 · Views: 788

## Jose Alfredo Rosas Cordova · 2023-02-15 15:08:31 UTC

Hello, everyone:

I have the VOXL 2 Flight Deck and am interested in doing a precision landing applications for outdoor flight. So, I'd like to take off run a QGC mission based on GPS way points and then return to the take-off coordinates and precision land using a April/ArUco tag. I checked the docs and learnt about the april-tag detector service as well as the ROS integration through voxl-map-to-ros-node. I can use MAVROS to load and carry out the mission, but the topics publish by the voxl ROS node do not include the April tag detection output. I wanted to know if there is there a way to take the MPA output and make it a ROS topic? or if there is a more obvious way to do something like this that I am missing?

Thanks in advanced :-)

## Reply by Chad Sweet (ModalAI staff) · 2023-02-15 15:24:01 UTC

Yes, of course! All of the code is open so you can make those modifications. We regularly accept pull requests and are happy to incorporate any improvements you might make

## Reply by Jose Alfredo Rosas Cordova · 2023-02-15 17:04:04 UTC

Thanks, but I was referring if there is something already built in to do this task. IN the docs you guys have a [VOXL MPA to ROS](https://docs.modalai.com/voxl-mpa-to-ros/#top). Is this feature still planned?