From 4ce051af82b2103544d96b9402b08e3c16079c9a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 25 Sep 2017 12:04:01 +1000
Subject: [PATCH] Plane: ensure we're in short failsafe before using
 failsafe.ch3_timer_ms

---
 ArduPlane/system.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index a6b0342413..449693593b 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -480,7 +480,7 @@ void Plane::check_long_failsafe()
     // -------------------
     if (failsafe.state != FAILSAFE_LONG && failsafe.state != FAILSAFE_GCS && flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
         uint32_t radio_timeout_ms = failsafe.last_valid_rc_ms;
-        if (g.short_fs_action != SHORT_FS_ACTION_DISABLED) {
+        if (failsafe.state == FAILSAFE_SHORT) {
             // time is relative to when short failsafe enabled
             radio_timeout_ms = failsafe.ch3_timer_ms;
         }