Sending a mission below base altitude

PX4 Autopilot
1

Hello,

I am running into an issue and would like to know if this is expected behavior or if my configuration is wrong. For context, everything is currently being simulated using PX4 SITL (v1.16.0) and QGroundControl for mission planning.

The Scenario: I spawn my vehicle at an elevation of about 750m AMSL. Then, I send a mission with two waypoints:

  • Waypoint 1: 780m AMSL

  • Waypoint 2: 730m AMSL

The Issue: While the copter is descending from WP1 to WP2, once the AGL (Above Ground Level) hits 0, the system triggers a Land detected message, even though the relative height (HGT) is still at 20m.

Does anyone know why this is happening or have any advice on how to properly configure this?

Thanks in advance!