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Hey Jajazz_ratava,

I'm assuming you're using ROS, then you can use http://wiki.ros.org/apriltag_ros pkg for detecting and getting pose of the April tag.
On px4 you can use the offboard mode(The vehicle obeys a position, velocity, or attitude setpoint provided over MAVLink(API)), Here is an example of its implementation https://dev.px4.io/master/en/ros/mavros_offboard.html
Now you can give the April tag's pose to offboard mode for landing. I hope this helps.

Thank you

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