diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde
index 653813c300..b1cb39d0d6 100644
--- a/ArduCopter/radio.pde
+++ b/ArduCopter/radio.pde
@@ -147,7 +147,7 @@ static void throttle_failsafe(uint16_t pwm)
 			// Don't enter Failsafe if we are not armed
 			// home distance is in meters
 			// This is to prevent accidental RTL
-			if(motors.armed() && (home_distance > 1000)){
+			if(motors.armed() && takeoff_complete){
 				SendDebug("MSG FS ON ");
 				SendDebugln(pwm, DEC);
 				set_failsafe(true);