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.

Dear Modalai Team,
Voxl-vision-hub includes a potentially very valuable off-board mode called Trajectory.
The code (offboard_trajectory.c) is available at the GitLab, but has very few comments or instructions on how to use this offboard mode template.
In particular, there is no information on how to send or create trajectories in this offboard mode.
The online documentation for voxl-vision-hub mentions Trajectory mode as one of the three available offboard modes but there is no information on how to use it, in particular how to create or send trajectory information.
Could you please publish or make more information available on the use of the Trajectory offboard mode ? Even if this mode is work in progress, it would be very useful to understand more of its intended use. At this point we developers have very limited options as starting points for using voxl-vision-hub.
More information on how to use Trajectory mode would be very valuable to VOXL developers.
Thanks.

Dear Modalai Team,
Recent versions of voxl-vision-hub include a new and potentially very valuable off-board mode called WPS.
The code (offboard_wps.c) is available at the GitLab, but has almost zero comments or instructions on how to use this offboard mode template.
A CSV file is mentioned to define waypoints (/tmp/voxl-mapper-traj_waypoints.csv) but the file is nowhere to be found, neither in the drone side nor on the Gitlab files.
The online documentation for voxl-vision-hub does not even mention the WPS mode at all.
Could you please send more information and explain the use of WPS offboard mode ?
At this point we developers have very limited options as starting points for using voxl-vision-hub. More information on how to use WPS would be very valuable.
Thanks.