diff --git a/ArduCopter/events.pde b/ArduCopter/events.pde
index 12887a29da..5026a7cffa 100644
--- a/ArduCopter/events.pde
+++ b/ArduCopter/events.pde
@@ -22,7 +22,7 @@ static void failsafe_radio_on_event()
             }else if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
                 // if failsafe_throttle is 3 (i.e. FS_THR_ENABLED_ALWAYS_LAND) land immediately
                 set_mode(LAND);
-            }else if(GPS_ok() && home_distance > wp_nav.get_waypoint_radius()) {
+            }else if(home_distance > wp_nav.get_waypoint_radius()) {
                 if (!set_mode(RTL)) {
                     set_mode(LAND);
                 }
@@ -34,7 +34,7 @@ static void failsafe_radio_on_event()
         case AUTO:
             // failsafe_throttle is 1 do RTL, 2 means continue with the mission
             if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_RTL) {
-                if(GPS_ok() && home_distance > wp_nav.get_waypoint_radius()) {
+                if(home_distance > wp_nav.get_waypoint_radius()) {
                     if (!set_mode(RTL)) {
                         set_mode(LAND);
                     }
@@ -57,7 +57,7 @@ static void failsafe_radio_on_event()
             if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
                 // if failsafe_throttle is 3 (i.e. FS_THR_ENABLED_ALWAYS_LAND) land immediately
                 set_mode(LAND);
-            }else if(GPS_ok() && home_distance > wp_nav.get_waypoint_radius()) {
+            }else if(home_distance > wp_nav.get_waypoint_radius()) {
                 if (!set_mode(RTL)){
                     set_mode(LAND);
                 }
@@ -105,7 +105,7 @@ static void failsafe_battery_event(void)
                 break;
             case AUTO:
                 // set_mode to RTL or LAND
-                if (GPS_ok() && home_distance > wp_nav.get_waypoint_radius()) {
+                if (home_distance > wp_nav.get_waypoint_radius()) {
                     if (!set_mode(RTL)) {
                         set_mode(LAND);
                     }
@@ -139,6 +139,11 @@ static void failsafe_gps_check()
 
     // return immediately if gps failsafe is disabled
     if( !g.failsafe_gps_enabled ) {
+        // if we have just disabled the gps failsafe, ensure the gps failsafe event is cleared
+        if (failsafe.gps) {
+            failsafe_gps_off_event();
+            set_failsafe_gps(false);
+        }
         return;
     }
 
@@ -227,7 +232,7 @@ static void failsafe_gcs_check()
             // if throttle is zero disarm motors
             if (g.rc_3.control_in == 0) {
                 init_disarm_motors();
-            }else if(GPS_ok() && home_distance > wp_nav.get_waypoint_radius()) {
+            }else if(home_distance > wp_nav.get_waypoint_radius()) {
                 if (!set_mode(RTL)) {
                     set_mode(LAND);
                 }
@@ -239,7 +244,7 @@ static void failsafe_gcs_check()
         case AUTO:
             // if g.failsafe_gcs is 1 do RTL, 2 means continue with the mission
             if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_RTL) {
-                if (GPS_ok() && home_distance > wp_nav.get_waypoint_radius()) {
+                if (home_distance > wp_nav.get_waypoint_radius()) {
                     if (!set_mode(RTL)) {
                         set_mode(LAND);
                     }
@@ -251,7 +256,7 @@ static void failsafe_gcs_check()
             // if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
             break;
         default:
-            if(GPS_ok() && home_distance > wp_nav.get_waypoint_radius()) {
+            if(home_distance > wp_nav.get_waypoint_radius()) {
                 if (!set_mode(RTL)) {
                     set_mode(LAND);
                 }
diff --git a/ArduCopter/fence.pde b/ArduCopter/fence.pde
index 3fa4cddcfb..beeda1c35c 100644
--- a/ArduCopter/fence.pde
+++ b/ArduCopter/fence.pde
@@ -35,22 +35,14 @@ void fence_check()
             if(manual_flight_mode(control_mode) && g.rc_3.control_in == 0 && !failsafe.radio && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0)){
                 init_disarm_motors();
             }else{
-                // if we have a GPS
-                if (GPS_ok()) {
-                    // if we are within 100m of the fence, RTL
-                    if( fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
-                        if (!set_mode(RTL)) {
-                            set_mode(LAND);
-                        }
-                    }else{
-                        // if more than 100m outside the fence just force a land
+                // if we are within 100m of the fence, RTL
+                if (fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
+                    if (!set_mode(RTL)) {
                         set_mode(LAND);
                     }
                 }else{
-                    // we have no GPS so LAND
-                    if(control_mode != LAND) {
-                        set_mode(LAND);
-                    }
+                    // if more than 100m outside the fence just force a land
+                    set_mode(LAND);
                 }
             }
         }
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 7f8a9f1d9c..77b2a667c1 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -42,15 +42,12 @@ static void calc_distance_and_bearing()
     }
 
     // calculate home distance and bearing
-    if( ap.home_is_set && (g_gps->status() == GPS::GPS_OK_FIX_3D || g_gps->status() == GPS::GPS_OK_FIX_2D)) {
+    if(GPS_ok()) {
         home_distance = pythagorous2(curr.x, curr.y);
         home_bearing = pv_get_bearing_cd(curr,Vector3f(0,0,0));
 
         // update super simple bearing (if required) because it relies on home_bearing
         update_super_simple_bearing(false);
-    }else{
-        home_distance = 0;
-        home_bearing = 0;
     }
 }
 
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 1d4fcde399..74f7b1d495 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -291,7 +291,7 @@ static void startup_ground(bool force_gyro_cal)
 // returns true if the GPS is ok and home position is set
 static bool GPS_ok()
 {
-    if (g_gps != NULL && ap.home_is_set && g_gps->status() == GPS::GPS_OK_FIX_3D) {
+    if (g_gps != NULL && ap.home_is_set && g_gps->status() == GPS::GPS_OK_FIX_3D && !gps_glitch.glitching() && !failsafe.gps) {
         return true;
     }else{
         return false;