INAV Cleanflight Quadcopter AUTO TAKEOFF and LANDING TEST(1)

cleanflight inav(1.1-RC2) tests auto takeoff and landing (baro only version)
2212/980kv
10x45
11.1v/3S/2200mAh
M8N + H5883L (external)
FC:SRP_F3 (10 DOF)
SONAR HC-SR04
LED WS2812B
F450
ESC 20A,all N-FET, BLHELI 14.4 ,Damped light
Radio:AT9 + RD9(10CH.)
INAV Setup:
default PID
oneshot on
looptime = 1000
set nav_use_midrc_for_althold = OFF
set nav_extra_arming_safety = OFF
set nav_user_control_mode = CRUISE
set nav_mc_hover_thr = 1360
set alt_hold_deadband = 70