[Bug] "COM_POS_FS_DELAY" does not take effect

[JigyasuC]

Describe the bug

The parameter COM_POS_FS_DELAY does not seem to take affect. It is default set to 1 second, but increasing it to 20 seconds has no change in the behavior when GPS is stopped (using fault injector).

The failsafe is always triggered after 5 seconds of failure injection (simultaneously with the following message on QGC:

Critical: Failsafe activated: Autopilot disengaged, switching to Descend
- Navigation error: No valid position estimate
- Navigation error: No valid global position estimate

Failsafe actions that disengage the autopilot (remove position control)

Tested in SITL with 1.15.0 (main; 5b66a1e)

To Reproduce

1. Use a quad frame.
2. param set COM_POS_FS_DELAY 20
3. Fly the the drone in POSITION.
4. failure gps off (failure injection)

Expected behavior

Vehicle flies in POSITION for 20 seconds (or value of COM_POS_FS_DELAY) and then the failsafe is triggered (switch to Altitude or Land, set from COM_POSCTL_NAVL).

Screenshot / Media

No response

Flight Log

https://logs.px4.io/plot_app?log=e4276901-8534-4832-9e4d-8f4bf65d6cab

Software Version

HW arch: PX4_SITL
PX4 git-hash: 5b66a1e
PX4 version: 1.15.0 80 (17760384)
PX4 git-branch: main
Build datetime: Nov 19 2024 12:47:49

Flight controller

SITL

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

Also tested with PX4 1.14.0 SITL, and had similar observation.