From 9f1eaf4b372d24a9463d21a8c6959a5a1d928896 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 13 Mar 2019 09:05:25 +1100
Subject: [PATCH] AP_RCProtocol: fixed RC option check for iofirmware

---
 libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
index bb4a8c6e2f..dedbc4400d 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
@@ -18,6 +18,7 @@
 #include "AP_RCProtocol.h"
 #include <AP_Math/AP_Math.h>
 #include <RC_Channel/RC_Channel.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 AP_RCProtocol_Backend::AP_RCProtocol_Backend(AP_RCProtocol &_frontend) :
     frontend(_frontend),
@@ -54,7 +55,12 @@ 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 (!in_failsafe || RC_Channels::ignore_rc_failsafe()) {
+#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
+    if (RC_Channels::ignore_rc_failsafe()) {
+        in_failsafe = false;
+    }
+#endif
+    if (!in_failsafe) {
         rc_input_count++;
     }
 }