From c523a9822b4517e5393c247f241614ae233804e2 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Tue, 29 May 2012 11:24:41 -0700
Subject: [PATCH] Failsafe: Looking for takeoff_complete now vs unreliable GPS

---
 ArduCopter/radio.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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);