Follow the target with MAVLink and GUIDE mode

I achieved follow-target function with zingto pod, zingto pod send MAVLink protocol to change px4 to guide mode, and let drone fly to the targe. This is the test video:
Drone tracking flight using Ardupilot, based on image locking and MAVLink (youtube.com)

From what I can tell this is ArduPilot, not PX4.

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