QR codes are very bad choice for such purpose as it contains many pixels so are hard to read in low resolutions. For pixel size on ground see this calculator - https://www.propelleraero.com/gsd-calculator/ So for 100m altitude you need at least 3cm/pixel for QR code so the physical size for even empty(null) QR code will need to be at least 1m x 1m. If it contains more data then it will need to be even larger. Other option would be to get closer on each QR code but it is not possible in automatic flight.
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