From 9d525d4382e2b2c46257938dc9033c6aa6543fd5 Mon Sep 17 00:00:00 2001
From: Andre Kjellstrup <andre.kjellstrup@gmail.com>
Date: Sat, 20 Jun 2015 23:29:01 +0200
Subject: [PATCH] Plane: Do not run FailSafe if on final approach or landing.

A failsafe (Circle, RTL) would easily become a disaster if trigged
during approach or final.
---
 ArduPlane/system.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 4f9aca51c7..8be6e89b67 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -516,7 +516,8 @@ void Plane::check_short_failsafe()
 {
     // only act on changes
     // -------------------
-    if(failsafe.state == FAILSAFE_NONE) {
+    if(failsafe.state == FAILSAFE_NONE && (flight_stage != AP_SpdHgtControl::FLIGHT_LAND_FINAL &&
+            flight_stage != AP_SpdHgtControl::FLIGHT_LAND_APPROACH)) {
         if(failsafe.ch3_failsafe) {                                              // The condition is checked and the flag ch3_failsafe is set in radio.pde
             failsafe_short_on_event(FAILSAFE_SHORT);
         }