I believe that I recall a piece of advice for flying indoors, which also applies to flying underneath anything, which was to temporarily set your RTH function to hover as opposed to go home...
As said above RTH set to hover, make sure you have good line of sight, maintain good clearances (even if it's a concrete bridge there will be a lot of steel in it) and either switch to ATTI before going under or or be prepared to loose GPS.
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