Plan to home in case of connection loss

[Dronodev]

Dear ModalAI Team,

we are currently developing a prototype for an indoor inspection drone and had a question regarding the VOXL Mapper.
Is it possible to automatically trigger the Plan to Home function of VOXL Mapper in the event of a failsafe or connection loss?
In other words, is there a way for PX4 to trigger an event in the MPA Pipe?
If this is not possible without significant effort, we are also considering implementing the voxblox algorithm in ROS2 and triggering a return-to-home event from PX4 through ROS2.
Would it be possible for PX4 to trigger such an event in ROS2 — for example, in response to a failsafe condition?

Thanks in advance!