Loss of position failsafe behavior


I’m working on a project that concerns the GPS functionality in the drone. During my testing, the drone loses the GPS signal for sometime (less than a minute). To avoid terminating the mission, I changed the value of the parameter COM_POS_FS_DELAY to 80s so it waits for that time before the failsafe kick in. The problem I’m facing is that the moment the GPS signal is lost, the failsafe starts immediately. In addition to that, from my understanding the failsafe should be to switch the drone to either Attitude or Stabilized mode, but it actually switches to Land mode.

I hope my description is clear and someone has an idea about this issue.