In waypointMission, there is a parameter which controls whether the waypointMission should stop or keep going when aicraft connection is losed. Its default value is false. When you build up a new waypointMission. you can use setExitMissionOnRCSignalLostEnabled() method to set this value. If you set it to true, the aircraft will not continue executing the waypointMission and execute the Connection Fail Safe Behavior according to getConnectionFailSafeBehavior().