# Offboard follow_tag mode - suggestions to achieve fly-to-tag behaviour

Source: https://forum.modalai.com/topic/4625/offboard-follow_tag-mode-suggestions-to-achieve-fly-to-tag-behaviour
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: starling
Posted: 2025-07-23 15:46:17 UTC by SystemBrute
Replies: 0 · Views: 311

## SystemBrute · 2025-07-23 15:46:17 UTC

Dear Modalai Team,
Currently, the offboard follow_tag mode is not functional and is described as "Very dangerous, not recommended for customer use" in voxl-vision-hub.conf.
This would be a very valuable application example for developers, if the code were modified to achieve "fly towards the tag" behaviour relative to a fixed apriltag.
The existing code (offboard_follow_tag.c)  is based on sending setpoints rather than creating a path. 
Could you send an outline (sketch, suggested logic sequence)  on suggested steps to modify offboard_follow_tag.c to achieve fly-to-tag behaviour ?
Just a general suggested outline would be very helpful.  Thanks.