Implementing Drop Mode with a Quadrotor

Hi everyone! Currently, I am an undergraduate student working on a capstone project that requires us to implement a drop mode in PX4 Autopilot. This is very similar to Arudpilots throw mode. Our system will be dropping small quadrotors from a larger vehicle and they may not have GPS initially while dropping. We are expecting them to fall and stabilize themselves.

Has anyone tried to implement drop mode? Also, what steps are required to implement it?

Any help or pointers to code in PX4 Autopilot would be greatly appreciated. We are also using RTPS with ROS2 in case there is a way to not implement it on the firmware side.