I am flying a drone without GPS but localized using visual odometry (VICON), using ROS 2 XRCE. All modes work fine, except land mode. I want to specify a landing target in local coordinates but the drone always tries to land at coordinates (0,0). This is mandatory for me since I am working with multiple drones and they collide because they want to land in the same spot.
I sent a VehicleCommand message with command VEHICLE_CMD_NAV_LAND and both if I specify the parameters as described or not the drone always tries to land at x=0 and y=0.
How can I do this? I simply need to make the drone land at the current X,Y location.