using qgroundcontrol, In failsafe configuration setting I have enabled rc failsafe and when failsafe is engaged it should land straight down. As an experiment I gave 50% throttle to quad(without using propellers) and turned off my rc transmiter and suddenly motors stopped rotating. I got prompt as “rc failsafe on”. the moment failsafe gets engage if motors stops than it will lead to a free fall while flying. I didn’t use GPS in this experiment and “RC_FAILS_THR” variable value is 950 . Is this the expected behavior in failsafe operation?
You may want to look at this PR and provide some input to the discussion: https://github.com/PX4/Firmware/pull/5863