Accurate landing control via MAVLink

Hello! I'm trying to achieve accurate landing on the basic station. I did code module using OpenCV && Aruco and did make integration with ROS...

So what I have right now - topic with altitude, shift angle, and distance from target and roscopter as a main control module for my quadrotor.

What I'm asking for - what do you think, guys, the best option to control quadcopter's X & Y position via MAVLink? As I understand right now there are two ways - RC_CHANNELS_OVERRIDE as first, and SET_POSITION_TARGET_LOCAL_NED as second... But I can't find any code on github or somewhere else with examples using SET_POSITION_TARGET_LOCAL_NED.. 

The simplest (but not optimal as I understand) way is trying to override roll,pitch channels on with LAND mode but I really think that SET_POSITION.. option is more and more flexible in future..

It would be great if somebody helps with advices about that!

Thanks a lot in advance!

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vlcsnap-2014-11-02-18h50m22s476.png

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