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Choose what “tracking a person” means
GPS following is the more direct path when the target carries a device that reports its position. PX4’s Follow Me mode uses the MAVLink FOLLOW_TARGET message to receive target position; it follows reported coordinates rather than visually confirming who or what is there. ArduPilot also documents a ground-station-based Follow Me approach in which a GPS-equipped ground station and telemetry link send movement commands. The documented approach is described in ArduPilot’s Copter Use-Case Overview.
Camera-based tracking is a different development project. A camera supplies image frames, software detects or tracks a person in those frames, and a control process turns the estimate of the person’s relative position into bounded commands for the autopilot. The official companion-computer documentation supports this broad architecture, but does not establish a complete, validated person-detection implementation. Do not assume that adding a camera or running a vision model by itself produces a reliable follow-me aircraft.
| Aspect | GPS Follow Me | Camera-based visual tracking |
|---|---|---|
| Target input | Position from an external device or system | Camera imagery processed onboard |
| What the aircraft follows | Reported target coordinates, not a visually identified person | A detected image target and its estimated relative motion |
| Main integration work | Target GPS, telemetry, and a supported autopilot mode or protocol | Camera, onboard compute, tracking software, and a supported control interface |
| Representative failure modes | Stale or poor position data, lost telemetry, or position and altitude errors | Occlusion, target leaving the frame, poor light, motion blur, or confusing backgrounds |
| What official documentation establishes | PX4 and ArduPilot document follow-mode approaches | PX4 and ArduPilot document companion-computer architectures, not validated person-tracking performance |
What components does a following drone need?
There is no one-size-fits-all parts list or validated thrust calculation for this project. The airframe, propulsion, controller, compute, camera, wiring, battery, and telemetry must work as a complete system, with enough payload margin for the installed equipment.
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Airframe and propulsion
Choose a stable multirotor sized to carry all payload, including the flight controller, companion computer, camera and wiring. Frame, motors, electronic speed controllers (ESCs), propellers, and battery need to be selected together. Account for the extra weight and power draw of the camera and computer rather than choosing those parts in isolation.
Flight controller and autopilot
The flight controller runs the aircraft’s core stabilization and flight-safety functions. Choose a board supported by the specific PX4 or ArduPilot firmware version you intend to use, and confirm that the selected follow mode and interfaces are supported for that setup. PX4 describes the separation between core flight code and companion-computer work in its Companion Computers documentation. ArduPilot likewise describes companion-computer connections and use cases in its Companion Computers guide.
Target device or camera
For GPS following, the target needs a device or system that provides its location to the aircraft’s supported follow-mode setup. For visual tracking, the camera must provide usable frames to the onboard vision process; a gimbal may be part of the design, but does not replace detection or control software.
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Companion computer and communications
A companion computer handles processing beyond the flight controller’s main role, such as computer vision. PX4 documents MAVLink and uXRCE-DDS connections; ArduPilot describes MAVLink links to onboard computers, often Linux-based. Raspberry Pi and NVIDIA Jetson families are examples of computer categories found in this ecosystem, not universal recommendations. Compare the chosen device’s compute capability, weight, power draw, cost, setup effort, and compatibility with the full aircraft before selecting it. See the PX4 companion-computer guidance for these trade-offs.
How to develop the follow function
- Choose GPS or visual tracking. Decide whether the target will carry a position-broadcasting device or whether the aircraft will process camera frames onboard. Do not treat a GPS coordinate as visual identification.
- Confirm the platform combination. Match the flight controller, autopilot firmware, companion-computer link, target device or camera, telemetry, and power system. Check the selected platform’s current manuals for supported interfaces and modes.
- Keep flight and perception roles separate. Leave stabilization and core safety functions with the flight controller. Run vision or target-position processing on the companion or target system, and send commands only through interfaces supported by the chosen autopilot.
- Define loss and takeover behavior. Decide what the aircraft should do if the target is lost, telemetry drops, the companion computer stops responding, or the battery is low. Configure failsafe and geofence behavior using the exact platform documentation, and retain a direct way for the pilot to regain control. General documentation describes these capabilities, but does not provide a verified universal configuration for this build.
- Test in stages. Start with simulation or bench checks of sensors and communications. Perform motor checks using the precautions in the platform guidance. Then verify manually piloted flight and stable position modes before trying any follow behavior, first in a legal, open area with a competent pilot in control and bystanders outside the operating area.
What can go wrong, and what the modes do not provide
Following a target is not obstacle avoidance. PX4’s User Guide states: “Follow-me mode does not implement any type of obstacle avoidance.” Its Follow-Me Mode guidance recommends wide, open areas clear of trees, power lines, and buildings, with enough height above nearby obstructions and room to stop. It also advises being ready to switch back to Position mode.
GPS following depends on usable, timely location and communications data. Visual tracking can lose a person behind an obstruction, in poor light, amid motion blur, or against a confusing background. These failure modes are engineering risks, not evidence of a measured failure rate. A tracking estimate also does not establish that the route is clear or that the aircraft can stop safely.
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Altitude handling deserves particular attention in a GPS setup. PX4 warns against using 3D target-altitude tracking with Android QGroundControl unless the altitude datum is verified: MAVLink expects altitude relative to mean sea level, while QGroundControl on Android may report GPS-ellipsoid altitude, which can differ significantly. Check the current documentation for the exact software release and configuration before enabling altitude tracking.
Independent reader supportYour contribution helps us test, update, and keep practical guides available for everyone.U.S. rules still apply when a drone follows someone
Automation does not remove the pilot’s legal responsibilities. The following is U.S.-specific guidance, not individualized legal advice; requirements elsewhere differ.
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FAA guidance for recreational flyers requires visual line of sight, or a co-located visual observer who can communicate directly with the pilot, and requires yielding to other aircraft and following applicable airspace rules. Recreational flyers must take TRUST and comply with registration and Remote ID requirements when applicable. The FAA says drones that require registration must broadcast Remote ID unless they are flown in a Federally Recognized Identification Area or another stated exception applies. Check the FAA recreational flyers guidance for current requirements.
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Part 107 operations and flight over people
The FAA’s Part 107 summary published July 6, 2026, says to keep the aircraft within sight; an FPV or similar operation requires a visual observer to keep it within unaided sight. The summary says not to fly over people unless they directly participate, while the FAA’s separate Operations Over People overview explains categories and conditions that may allow qualifying operations. A person carrying the target device is not automatically exempt from those rules. Check the FAA Part 107 summary and the applicable operating category for the aircraft and flight.
If a planned operation would exceed standard conditions such as visual line of sight or applicable over-people limits, the FAA identifies some of these provisions as potential waiver areas. A waiver is not automatic just because a drone follows a target; see the FAA Part 107 waivers guidance.
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