Yuan-Chu Tai

Hi @hamishwillee Thank you for detailed explanation. I agree with @kapacheuski that a vehicle attitude aligned MAV_FRAME may be required for vision based navigation. Because a camera (used for navigation)...

Thank you. I will try to test it when weather condition is ok.

flight test ok CubeBlack, Raspberry Pi and camera send LANDING_TARGET to FC, no rangefinder, RTL log [2022-09-15 15-40-51.zip](https://github.com/ArduPilot/ardupilot/files/9573191/2022-09-15.15-40-51.zip) video https://youtube.com/shorts/04SDixARTS8?feature=share

pixhawk 4 mini, irlock and lightware sf-20 rangefinder, flight test ok log [2022-09-19 15-30-19.zip](https://github.com/ArduPilot/ardupilot/files/9596955/2022-09-19.15-30-19.zip) Hi @rishabsingh3003 I have tested it with companion computer (LANDING_TARGET) and irlock (with rangefinder). Both configurations...

Hi @kapacheuski. I think maybe we could add one frame at a time and only change `AC_PrecLand_Companion.cpp` to reduce complexity. Would you mind taking a look at https://github.com/chobitsfan/ardupilot/commit/b85b6b5afe53326f15c026679d77b004d76ff55d ? Thank...

Hi @lthall This is great. I think maybe I could help testing it?

test flight on cubeblack, f450 frame [2022-07-11 11-21-20.zip](https://github.com/ArduPilot/ardupilot/files/9080704/2022-07-11.11-21-20.zip)

> @chobitsfan Any chance you could test again once the tests pass? Sure. I will test it today (or tomorrow)

I have tested it with updated code. It looks good. Thank you @lthall [2022-07-12 13-51-30.zip](https://github.com/ArduPilot/ardupilot/files/9089959/2022-07-12.13-51-30.zip)

> For some reason the first two flights trigger immediately. Hi @lthall I am very sorry for late reply. Yes. it seems a little strange. I will try to test...