GPS Loss Leads to Severe Position Drift

Hi everyone.

I have a custom GPS fault injector. I injected a failure right at takeoff in a simple takeoff/land mission running on the Iris in SITL. The smart RTL facility was activated. Then, I experienced significant position drift (~30m).

The longitude is experiencing the most drift:

Attached are the desired attitudes. I’m not sure why there is a lot of movement around 14:11:09.

This sure looks like a bug to me. Should this be reported?

Attached is the log. 00000365.BIN (899.3 KB)