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It will complete the plan even if it loses connection - except- if it calculates the battery is too low. Then it will initiate a return to home. This failsafe works pretty well but watch out for the wind. Don't launch a long mission with a significant tail or cross wind. It has been my experience that 3.7 km is as far as it will go in calm wind before turning around on its own. Its goal is to get back with 30%.