diff --git a/ports/apriltag/portfile.cmake b/ports/apriltag/portfile.cmake
index 432df4114e..ed72297038 100644
--- a/ports/apriltag/portfile.cmake
+++ b/ports/apriltag/portfile.cmake
@@ -6,7 +6,7 @@ vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO AprilRobotics/apriltag
     REF v${VERSION}
-    SHA512 c6efa98b8c85702441b421955a8fd78cb99ff07e014da5593b95246a0aaf391e9959d336d8005ba193fb6dad0fb5858852918087a401e180af9c46df38a900aa
+    SHA512 2e7edda62e1f196ac954cb999d11a43e81e4e8a5de296b7ce28744a0ec3a4a3209b413e2328aaebce61b2eef782209855ca1112c489bbcb5437387ab6379a849
     HEAD_REF master
 )
 
diff --git a/ports/apriltag/vcpkg.json b/ports/apriltag/vcpkg.json
index 4b66a6e042..0a2d6e5148 100644
--- a/ports/apriltag/vcpkg.json
+++ b/ports/apriltag/vcpkg.json
@@ -1,6 +1,6 @@
 {
   "name": "apriltag",
-  "version": "3.4.0",
+  "version": "3.4.2",
   "description": "AprilTag is a visual fiducial system popular for robotics research.",
   "homepage": "https://april.eecs.umich.edu/software/apriltag",
   "license": "BSD-2-Clause",
diff --git a/versions/a-/apriltag.json b/versions/a-/apriltag.json
index 6c515d87fc..a43e483ea0 100644
--- a/versions/a-/apriltag.json
+++ b/versions/a-/apriltag.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "86a28ae0577f8da4f1bb690d7d372732b92e9ac0",
+      "version": "3.4.2",
+      "port-version": 0
+    },
     {
       "git-tree": "c7ae501c5566bbc76d1262910eafcbb1f56b8e5b",
       "version": "3.4.0",
diff --git a/versions/baseline.json b/versions/baseline.json
index 000291b31b..a77f0a6265 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -173,7 +173,7 @@
       "port-version": 0
     },
     "apriltag": {
-      "baseline": "3.4.0",
+      "baseline": "3.4.2",
       "port-version": 0
     },
     "apsi": {