From 13fd33c2d8a9f3d40a7ee1931f15ef2a25e79747 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 12 Nov 2013 11:13:05 +0900
Subject: [PATCH] Copter: gps failsafe disabled until we get first 3d lock

---
 ArduCopter/events.pde | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/events.pde b/ArduCopter/events.pde
index 5026a7cffa..73cab9a0c0 100644
--- a/ArduCopter/events.pde
+++ b/ArduCopter/events.pde
@@ -137,8 +137,8 @@ static void failsafe_gps_check()
 {
     uint32_t last_gps_update_ms;
 
-    // return immediately if gps failsafe is disabled
-    if( !g.failsafe_gps_enabled ) {
+    // return immediately if gps failsafe is disabled or we have never had GPS lock
+    if (!g.failsafe_gps_enabled || !ap.home_is_set) {
         // if we have just disabled the gps failsafe, ensure the gps failsafe event is cleared
         if (failsafe.gps) {
             failsafe_gps_off_event();