Moving platform landing not success

Question about moving platform landing

I am currently SITL simulating moving platform(truck) landing in Gazebo, using plane_ship_landing.lua provided by ardupilot
At present, it can land stably on a straight line and speed at 10m/s(truck), and it can also land stably on a curved route at 5m/s(truck), but once the curved route speed exceeds 5m/s(truck), the landing will become very unstable.

Several problems were mainly found:

  1. The vertical landing speed of the aircraft after chasing the target is about 0.5m/s, and the landing speed is very slow
  2. It is very stable when it reaches above the target and starts to land. When it descends close to the target, the fuselage will start to shake and crash

Here is the problem demo video