Autopilot has never supported
Lost Connection Mission Continuation (LCMC), which has been discussed in detail on this thread, and in Flight School
here. To be clear, the reason that Autopilot does not support LCMC is because of our custom flight controller, not because of the recently announced firmware issue, which is a separate but somewhat related issue. Normally, when the RC loses connection, the aircraft is supposed to immediately activate RTH, but the firmware issue prevents this. At the moment, the aircraft will hover until critical battery is reached. It will then attempt to RTH if the home point is close enough, or perform an emergency landing if not.