diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index 21b6d82c6e..f83a656881 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -161,7 +161,7 @@ public:
 
     // return true if watchdog enabled
     static bool watchdog_enabled(void) {
-        return _singleton?(_singleton->_options & BOARD_OPTION_WATCHDOG)!=0:false;
+        return instance?(instance->_options & BOARD_OPTION_WATCHDOG)!=0:false;
     }
 
 private:
diff --git a/libraries/AP_BoardConfig/board_drivers.cpp b/libraries/AP_BoardConfig/board_drivers.cpp
index da5a46652f..0a4e87168b 100644
--- a/libraries/AP_BoardConfig/board_drivers.cpp
+++ b/libraries/AP_BoardConfig/board_drivers.cpp
@@ -19,6 +19,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include "AP_BoardConfig.h"
 #include <AP_Baro/AP_Baro_MS5611.h>
+#include <GCS_MAVLink/GCS.h>
 #include <stdio.h>
 
 extern const AP_HAL::HAL& hal;
@@ -29,7 +30,12 @@ extern const AP_HAL::HAL& hal;
  */
 void AP_BoardConfig::board_init_safety()
 {
-    if (state.safety_enable.get() == 0) {
+    bool force_safety_off = (state.safety_enable.get() == 0);
+    if (!force_safety_off && hal.util->was_watchdog_safety_off()) {
+        gcs().send_text(MAV_SEVERITY_INFO, "Forcing safety off for watchdog\n");
+        force_safety_off = true;
+    }
+    if (force_safety_off) {
         hal.rcout->force_safety_off();
         hal.rcout->force_safety_no_wait();
         // wait until safety has been turned off