Fixedwing RTL failsafe makes the vehicle crash right after takeoff

[Jaeyoung-Lim]

Describe the bug

When running takeoff in SITL without QGC running, the plane immediately goes into failsafe, goes into RTL and then crases

To Reproduce

Steps to reproduce the behavior: (Make sure no QGC is running)

1. Start plane SITL simulation

make px4_sitl gazebo_plane

2. Command takeoff

commander takeoff

Expected behavior

• Vehicle should either takes off or rejects the takeoff command

Log Files and Screenshots

• Flight log: https://review.px4.io/plot_app?log=0314e693-cb1e-4675-a7ef-bad36473a129
• Log:

pxh> commander takeoff
pxh> INFO  [commander] Armed by internal command	
INFO  [tone_alarm] arming warning
INFO  [navigator] Using minimum takeoff altitude: 30.00 m	
INFO  [fw_pos_control_l1] Takeoff on runway	
INFO  [commander] Takeoff detected	
WARN  [commander] Failsafe enabled: no datalink	
INFO  [commander] Failsafe mode activated	
INFO  [tone_alarm] battery warning (fast)
INFO  [navigator] RTL: landing at home position.	
INFO  [navigator] RTL: climb to 589 m (100 m above destination)	
INFO  [commander] Failsafe mode deactivated	
WARN  [health_and_arming_checks] Preflight Fail: velocity estimate error
ERROR [commander] Critical failure detected: lockdown	
WARN  [commander] Motor failure detected	
WARN  [health_and_arming_checks] Preflight Fail: velocity estimate error

Additional context