Using Litchi Waypoints, I was able to successfully complete the 5 mile one way flight. I made it to my destination with 5 mins of waiting for it to arrive. Signal came back at waypoint 23 and I waited until it came into view at waypoint 29 before I took control and landed it. I had set waypoints 28-30 over the field at 200ft altitude to help see it coming. It was at 45% battery when I landed.