Geotagging NIR Images from Pixhawk & Mission Planner

Can anyone show me how to georeference my images? I have a pixhawk that unfortunately is situated in a skywalker platform that cannot be moved, so I believe I can get the file from mission planner, then bring into each image?
I’m a little shaky on how to do this.

My images are from an NIR sensor. This product will eventually be processed in pix4d.

Thanks so much for any help.