2.3km autonomous flight with 360 degree camera gimbal

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Somebody pinch me... another fine day with almost no wind??
Frame: S550
Motors: SunnySky X2412 980kv
ESCs: HobbyWing platinum pro 30A
FC: F3 Evo:
GPS: uBlox M8N
Battery: Multistar 4S 8000mAh
Radio: FlySky FS-i6X
RX: FlySky ia6b
Gimbal: X-Cam A10-3H
Camera: Xiaomi Yi
VTX: Eachine TS5840 200mW
VTX antenna: Aomway
OSD: Micro MinimOSD
FC firmware: Cleanflight iNav 1.4
Waypoints set with EZ-Gui Android app /
Used FatShark Dominator SE goggles:
Gimbal is modified to use STorM32 controller with NT firmware.
iNav is modified to change altitude gradually between waypoints.
Radio is modified to use a third gimbal for turning the camera direction.
Frame legs were removed, hex was launched and landed in a 'cradle':
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