In Failsafe Quadplane taking transition at unsafe altitude without descending at safe altitude

Hello All,

I am facing an issue with my engine powered quad plane. Below are the conditions.
If Suppose i am flying at the altitude of 1000mtr and about 4 KM away from the Home.
Whenever the telemetry gets failed its hitting RTL and lets say my defined RTL is 0 and and last waypoint assigned at 70mtr for transition. So my plane is not descending faster or lets say not descending to safe altitude .So its coming to home at whatever altitude its having its engaging qloiter at unsafe altitude around 600-700mtr.Any suggestion or help would be grateful.