How to set parameter fot follow mode?

Hi, all.

I am thinking of having a rover follow a multicopter in follow mode.

Mission Planner and the multicopter are connected via Xbee.
The same Mission Planner and Roubaix are connected by another Xbee.

Looking at Follow mode, the following statement is made.
“The vehicle lead vehicle’s position must be published to the vehicle in Follow mode using a telemetry system.”
How is this set up?
Is it a setting on the FC side?
Or is it a setting on the Mission Planner side?

Can the mission planner send the position information from the multicopter to the rover?

Thank you.