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I am am not speaking from experience, but this paper explains how to handle the April tag landing on a Pixhawk PX4 it includes algorithm explianations and configuration files. You should be able to run PX4 as opposed to APM on Pixhawk (speaking from experience).

You're probably going to want to use Ubuntu on the Raspberry Pi. I've been running ubuntu-mate on rpi4b.

Thanks,

Aaron

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