diff --git a/ArduCopter/events.pde b/ArduCopter/events.pde
index 898fd0bd07..ec8521c8cb 100644
--- a/ArduCopter/events.pde
+++ b/ArduCopter/events.pde
@@ -138,7 +138,7 @@ static void failsafe_gps_check()
     }
 
     // calc time since last gps update
-    last_gps_update_ms = millis() - g_gps->last_fix_time;
+    last_gps_update_ms = millis() - gps_glitch.last_good_update();
 
     // check if all is well
     if( last_gps_update_ms < FAILSAFE_GPS_TIMEOUT_MS) {