Need to priorise land vs rtl in case of critical bat

ArduCopter Copter 4.0
1

If I go far and if there is a critical bat volt trigered with land action.
When UAV start to land, it can go below LOS and then there is radio failsafe.

Radio failsafe trigger RTL, but in this case, I need that uav stay on Land.

Does an expert can explain how such setup will act in this case ?

2

Check https://ardupilot.org/copter/docs/parameters.html#fs-options-failsafe-options-bitmask
You probably need FS_OPTIONS,8 but you can add up the bits to get additional options.

3

Thank you so much.

With this I have all I need.