Landing Targets

A Landing Target is a structured pattern of fiducial markers detected by the Landmark module, which reports the target’s position to the flight controller. Pre-made targets can be downloaded below, and the Landing Target Configurator can be used to create custom targets.

Landing Target Configurator

Create custom landing targets using the web-based configurator.

Launch Configurator

Landing Target Configuration Instructions

1. Use the Landing Target Configurator to create a landing target.
2. Select the desired paper size for printing.
3. Export the landing target and extract the downloaded ZIP file.
4. Print landing-target.pdf at 100% scale.
   Alternatively, open landing-target.svg in Google Chrome and print it at 100% scale.
5. Before removing the microSD card, check the firmware version installed on the Landmark module. To check your firmware version or update the firmware, see Firmware Update.
6. Remove the microSD card from the Landmark module and insert it into a computer.
   A volume named bootfs should automatically mount.
7. Copy landing-target.json to the microSD card:
   • Firmware v1.1.0 and later: bootfs/landmark/landing-targets/landing-target.json
     Configure the landing target in bootfs/landmark/config.toml.
   • Firmware v1.0.0: bootfs/marker_layouts/landing-target.json
     Delete any unused files from bootfs/marker_layouts to prevent unintended detections.
8. Eject the microSD card and reinsert it into the Landmark module.

Pre-Made Landing Targets

Print at 100% scale

Print landing targets at 100% scale. Do not use “Fit to page,” “Scale to fit,” or another automatic scaling option.

After printing, measure the target's outer dimensions and confirm that they match the specified dimensions. An incorrectly scaled target can reduce landing accuracy.

Pre-made landing target compatibility depends on the firmware version installed on the Landmark module. To check your firmware version or update the firmware, see Firmware Update.

Firmware version	Default target	Notes
v1.1.0 and later	Bullseye	Bullseye is enabled by default. A4 Max and Fibonacci are compatible, but require additional configuration. See Landing Target Configuration Instructions.
v1.0.0	A4 Max and Fibonacci	A4 Max and Fibonacci are enabled by default. Bullseye is not compatible.

Bullseye

Bullseye is the default landing target for firmware v1.1.0 and later.

Firmware compatibility

Bullseye is not compatible with firmware v1.0.0.

Open in Configurator

• 32 mm × 32 mm: SVG · Letter PDF · A4 PDF
• 80 mm × 80 mm: SVG · Letter PDF · A4 PDF
• 200 mm × 200 mm: SVG · Letter PDF · A4 PDF
• 500 mm × 500 mm: SVG · A1 PDF
• 1250 mm × 1250 mm: SVG
• 3125 mm × 3125 mm: SVG

A4 Max

A4 Max is enabled by default in firmware v1.0.0.

The A4 Max target fills a standard A4 sheet. It is well suited for maximizing detection range when printing on A4 or Letter paper.

Open in Configurator

• 52.5 mm × 52.5 mm: SVG · Letter PDF · A4 PDF
• 262.5 mm × 210 mm: SVG · Letter PDF · A4 PDF

In the image below, the red and green arrows denote the origin, (0, 0), and the orientation of the landing target.

Fibonacci

Fibonacci is enabled by default in firmware v1.0.0.

Fibonacci targets are constructed recursively with progressively larger markers. Choose a size that fits your landing platform. These targets provide a good balance between detection range and robustness.

Open in Configurator

• 62.5 mm × 100 mm: SVG · Letter PDF · A4 PDF
• 162.5 mm × 262.5 mm: SVG · Letter PDF · A4 PDF
• 1112.5 mm × 687.5 mm: SVG · A0 PDF

In the image below, the red and green arrows denote the origin, (0, 0), and the orientation of the landing target.