Failsafe: Looking for takeoff_complete now vs unreliable GPS

ArduCopter/radio.pde

@@ -147,7 +147,7 @@ static void throttle_failsafe(uint16_t pwm)
 			// Don't enter Failsafe if we are not armed
 			// home distance is in meters
 			// This is to prevent accidental RTL
-			if(motors.armed() && (home_distance > 1000)){
+			if(motors.armed() && takeoff_complete){
 				SendDebug("MSG FS ON ");
 				SendDebugln(pwm, DEC);
 				set_failsafe(true);