You get individual rewards if you participate in each stage of the map and your FS finishes the stage to pull the flag. However, if you drop a ton of badges but your FS never finish a stage, then you don't get the individual stage rewards. There is also another group reward that depends on how your FS finish in the rankings. The more checkpoints you complete and the more rounds in the Pit you flip, the more points you score for the FS to help its ranking. So here, you would still get something even if your group didn't finish the map.