Using april tags for relocalization during offboard "trajectory" mode

[iparra]

Hi,
we are using apriltags on a starling with

"en_vio": true,
"en_tag_fixed_frame": true,
"en_transform_mavlink_pos_setpoints_from_fixed_frame": true

when we plan and order to follow the trajectory using voxl-mapper if the drone detects an apriltag relocates and create a sudden change in the fixed frame that makes the drone quickly try to reach that offset. Depending on the drift of the relocalization this is a very strong change of position that can cause QVIO to fail. In the documentation it says that

"When enabled, any SET_POSITION_TARGET_LOCAL_NED mavlink messages received through UDP will have its position, velocity, acceleration, and yaw values updated with the fixed frame offset before being sent to PX4 over UART. This is very useful for MAVROS and MAVSDK processes running locally or remotely."

Is this process done all at one time? Is there an easy way to "average" this correction so as there is no sudden changes in the reference position. Is there any other way of doing this?

Thanks in advance

[iparra]

Is there a way to change or update body_wrt_local to body_wrt_to_fixed? This way we can start anywhere on the map and we are not forced to start on 0,0,0

[Moderator]

@iparra have you read through the documentation on how to configure the tags? https://docs.modalai.com/voxl-tag-detector/#voxl-configure-tag-detector