diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.h b/libraries/AP_RCProtocol/AP_RCProtocol.h
index 55b1960bac..f7ba5cf2df 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.h
@@ -67,6 +67,13 @@ public:
     void process_handshake(uint32_t baudrate);
     void update(void);
 
+    bool failsafe_active() const {
+        return _failsafe_active;
+    }
+    void set_failsafe_active(bool active) {
+        _failsafe_active = active;
+    }
+
     void disable_for_pulses(enum rcprotocol_t protocol) {
         _disabled_for_pulses |= (1U<<(uint8_t)protocol);
     }
@@ -147,6 +154,7 @@ private:
     AP_RCProtocol_Backend *backend[NONE];
     bool _new_input;
     uint32_t _last_input_ms;
+    bool _failsafe_active;
     bool _valid_serial_prot;
 
     // optional additional uart
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
index 6931ee9775..3459f1748f 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
@@ -64,7 +64,11 @@ void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool
     memcpy(_pwm_values, values, num_values*sizeof(uint16_t));
     _num_channels = num_values;
     rc_frame_count++;
-#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
+    frontend.set_failsafe_active(in_failsafe);
+#if APM_BUILD_TYPE(APM_BUILD_iofirmware)
+    // failsafed is sorted out in AP_IOMCU.cpp
+    in_failsafe = false;
+#else
     if (rc().ignore_rc_failsafe()) {
         in_failsafe = false;
     }