# How to get m500 to station keep

Source: https://forum.modalai.com/topic/216/how-to-get-m500-to-station-keep
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2021-04-29 15:19:15 UTC by nova3489
Replies: 1 · Views: 436

## nova3489 · 2021-04-29 15:19:15 UTC

Hi, we have an m500. We are able to fly it in manual mode. In position mode, the drone is doing figure 8's. How can we get it to station keep or track an april tag instead of doing figure 8's?

Thanks

## Reply by Chad Sweet (ModalAI staff) · 2021-04-29 15:55:17 UTC

It sounds like you are putting the drone into offboard mode, with the offboard mode set to "figure_eight". https://docs.modalai.com/voxl-vision-px4-other-features/

You shouldn't need to be in offboard mode to use the apriltag relocalization, see here:
https://docs.modalai.com/voxl-vision-px4-apriltag-relocalization/