I have my low battery failsafe logic set to RTL, but today this caused unexpected and not so clever behaviour. I knew the battery was getting close to it’s limit, so I was in LAND mode, preparing for a nice approach, when I got FAILSAFE on the HUD and RTL was invoked - causing the quad to throttle up to RTL_ALT - which really caught me off guard and nearly caused a crash.
It would make sense if the failsafe could check, and if the vehicle is already in LAND or RTL mode, just carry on with it?