diff --git a/APMrover2/failsafe.cpp b/APMrover2/failsafe.cpp
index b43853ae82..fdf557a111 100644
--- a/APMrover2/failsafe.cpp
+++ b/APMrover2/failsafe.cpp
@@ -64,10 +64,10 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
 
     failsafe.triggered &= failsafe.bits;
 
-    if (failsafe.triggered == 0 &&
-        failsafe.bits != 0 &&
-        millis() - failsafe.start_time > g.fs_timeout * 1000 &&
-        control_mode != &mode_rtl &&
+    if ((failsafe.triggered == 0) &&
+        (failsafe.bits != 0) &&
+        (millis() - failsafe.start_time > g.fs_timeout * 1000) &&
+        (control_mode != &mode_rtl) &&
         ((control_mode != &mode_hold || (g2.fs_options & (uint32_t)Failsafe_Options::Failsafe_Option_Active_In_Hold)))) {
         failsafe.triggered = failsafe.bits;
         gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe trigger 0x%x", (unsigned int)failsafe.triggered);