Is there a solution to the problem of switching from a mode like LAND or RTL (where you may have set the throttle to zero) to STABILIZE?

My reflexes are not fast enough to recover faster than above 40 feet up.  Need some way to keep from colliding with the ground, or at least require more than one mistake before crashing to earth.

Does sonar or LIDAR solve this problem?

Seems like the Geofence should have a lower level as well.

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Do you have motors running all time while armed ?  - if no - enable that - will stop motors from actually stopping, reducing the spin-up time considerably.

Otherwise, it's just the way it is - partially meant for newbies to easily stop motors in case of crash.   you can ask for a change.

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