Thanks a lot. GCS failsafe now works for me in SITL, and I expect it will work with the actual drone using Mavproxy too. I’m surprised I missed that param when searching for “GCS” but I’m grateful for you stepping in. Here are the params that worked for me:
Edit: for anyone reading, this is also possible a way to get things working in SITL at least: How can I trigger GCS failsafe in SITL?