PX4-Autopilot: failsafe after takeoff shouldn't climb first

In SITL, when I do a normal commander takeoff test, the drone first goes to the takeoff altitude, then it goes into failsafe because there is neither RC nor a data link. This means it will rise to a default altitude of 5 meters before descending, loiter, and finally landing.

The fact that it rises first in failsafe when it is right over the takeoff spot is not intuitive in my opinion. Better would be if it just descended and landed again.

pxh> commander takeoff
pxh> INFO  [commander] Takeoff detected
WARN  [commander_tests] Failsafe enabled: no datalink
INFO  [navigator] RTL HOME activated
INFO  [navigator] RTL: climb to 493 m (5 m above home)
INFO  [navigator] RTL: return at 493 m (5 m above home)
INFO  [navigator] RTL: descend to 493 m (5 m above home)
INFO  [navigator] RTL: loiter 5.0s
WARN  [navigator] RTL: land at home
INFO  [commander] Landing detected