Plant with yellow flowers growing on sand, Namibia

Hello,
Here is a plant looking like a succulent, having yellow flowers and growing on sand in the coastal area of the south west of Namibia. Luderitz area.
I was thinking it could be Eremothamnus marlothianus, but wikipedia says it has spiny leaves which I don't see on this one.
Thank you for your help

 

Check Didelta carnosa.

 

Thank you very much Tyrlych