The key to landing on a moving boat is to make sure ALL automatic modes like auto return home on low battery, collision avoidance, downward facing sensors etc are switched OFF and the emergency motor stop in flight option is enabled (otherwise even after landing it won't let you switch off the motors as the boat is moving and therefore the drone doesn't think it has landed)
This was my first attempt, the boat was moving at about 8kts in 20kts of wind with the deck moving up and down vertically by about 2m in the swell. It got a bit hairy (!) but after you've done it once it gets much easier and as you can see even if you mess it up the onboard computer "should" recover it before it hits the water!
