AtomRC Penguin Ardupilot 4.5.5 Beta1 Autoland

2nd flight of the Penguin. Testing autolanding.
Setup:
SpeedyBee F405 Wing flight controller
Matek AS-DLVR-I2C airspeed sensor
LIDARLight v2 in PWM mode
ELRS 868 MHz
Walksnail V2 FPV system
4S LiIon 21700 Molicel 4500 mAh battery
2 old T-MOTOR MN2206 motors
The plane should easily be able to fly 45 - 50 minutes with this battery. Probably more, with a slower cruising speed.
The landing parameters require some tweaking because I repeatedly came 20m short.