Land drone on dynamic home position


I am modifying the home_position UORB message during the mission through a ROS2 node. The reason is because I want the drone land on a dynamic platform. Nevertheless, during a mission it always goes to the initial position where gazebo sets the reference frame.

Is it possible to get some help about how to make the drone land on a dynamic home position?

Thanks in advance,

I was able to make the drone go to the moving home position. Nevertheless, it just follows the platform, it never lands even if I set LTEST_MODE to 0 and RTL_PLD_MD to 2 (Required precision landing).

Any suggestions?