Thank you! I changed PLND_ENABLE to 2(enabled strict) and PLND_TYPE to 1(companion computer). Also I set ch7 option to 39. The only thing left after activating ch7 is to send landing_target_encode mavlink message expressed in this link, right? Moreover to test my code in simulation don’t I need AC v3.5 or higher? Since dronekit-sitl uses AC v3.3 I can’t see these parameters in simulation? I wonder how you were able to set these parameters in here?