This is an interesting conundrum. If it's currently on autopilot (for whatever reason) and the requirements aren't met anymore it should probably handle it grac

This is an interesting conundrum. If it's currently on autopilot (for whatever reason) and the requirements aren't met anymore it should probably handle it gracefully and wind it down progressively until a human driver takes over, rather than shutdown assuming someone is at the wheel. Auto pilot in adverse conditions is better than no pilot. In some multicopters when you loose signal it doesn't fall off the sky, instead it hovers gently down until it touches down on the ground, (or tries to fly back home which can cause a host of other problems)