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There is no such option as far as I know. If the connection is lost, the last valid command just keeps being sent.
A workaround would be a deadman switch that needs to be toggled. So basically before processing a joystick command, you check if the deadman switch has been toggled during a certain interval (maybe 0.2 secs). If it has not been toggled you dont send the joystick command to the robot. In that case if you lose connection it is the same as if you don't toggle the deadman. The side-effect is that you always have to toggle the deadman switch while driving the robot with your joystick.
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