I have installed a BN-180 GPS module on the iFlight Nazgul 5" and flashed the FC to run Betaflight 4.4, with these and some adjusments in Betaflight, the drone is now able to put itself to horizon mode, find the home point and manage to land and disarm smoothly without any further human interaction. Much respect to the betaflight dev team!
Sorry for the jello, i had a bend prop during the test :(
