Enable GPS failsafe landing

Hey, i’ve been looking this option for sometime, but didn’t find any.
How to enable failsafe landing in case of GPS signal loss?
My setup is:
Pixhawk v2
PX4: master, ekf2.
Position corrector: GPS only, no flow or VPE.
Thanks in advance!

are you VTOL or fixed wing? In fixed wing the GPS Failure Navigation settings are in the Parameters via QGC - I’m not sure if VTOL is the same place or not: