I know it seems meta, and we are programmed not to role play this way... but Imperial Valor really is just a tool to improve PC survival, plain and simple. Like the squad and squadron rules and talents, that allow NPCs to “take one for the team.” It is not the PCs cackling like villains, sending their fellow troopers to their demise in their stead. It is a tool. It did not occur to me that my PCs would choose death, or near-death unconsciousness and missing the scene, when another established game mechanic could prevent it. I’m going to sleep on this.
If anyone truly chooses to take the fall, per RAW, you may make an Average Athletics or Coordination check to reduce the consequences a tiny amount. Triumph could help more. Hale already successfully avoided most of the fall, using his whipcord, but hasn’t gotten to his initiative slot yet.