Precision landing with aruco marker


I have gone through the course of precision landing and implemented it on my drone with raspi 4B and imx219 camera. I am using pixhawk cube+ flight controller with 4.4.3 firmware, Drone is autotaking off to certain height through script and then switching to land mode, LANDING_TARGET message is being published everytime when aruco detected and drone is in landing mode but drone is not moving towards aruco tag, i tried with different size of aruco and tags, nothing is working, tried to recalibrate the camera.
I have changed the parameters as mentioned: PLND_ENABLED = 1, PLND_TYPE = 1, PLND_EST_TYPE = 0, LAND_SPEED = 20

Please help
I am attaching my tlog files

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