diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index e7f5283cb6..05426b366a 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -35,7 +35,7 @@ bool AP_Arming_Plane::pre_arm_checks(bool report)
     // Check airspeed sensor
     ret &= AP_Arming::airspeed_checks(report);
 
-    if (plane.g.long_fs_timeout < plane.g.short_fs_timeout) {
+    if (plane.g.long_fs_timeout < plane.g.short_fs_timeout && plane.g.short_fs_action != SHORT_FS_ACTION_DISABLED) {
         if (report) {
             gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: FS_LONG_TIMEOUT < FS_SHORT_TIMEOUT");
         }
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index fb5e2db73b..08497da975 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -501,7 +501,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Param: FS_SHORT_ACTN
     // @DisplayName: Short failsafe action
     // @Description: The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change is FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe.
-    // @Values: 0:CIRCLE/no change(if already in AUTO|GUIDED|LOITER),1:CIRCLE,2:FBWA
+    // @Values: 0:CIRCLE/no change(if already in AUTO|GUIDED|LOITER),1:CIRCLE,2:FBWA,3:Disable
     // @User: Standard
     GSCALAR(short_fs_action,        "FS_SHORT_ACTN",  0),
 
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 9c08ca23d5..1d25ad0140 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -857,7 +857,7 @@ private:
     void set_target_altitude_proportion(const Location &loc, float proportion);
     void constrain_target_altitude_location(const Location &loc1, const Location &loc2);
     int32_t calc_altitude_error_cm(void);
-    void check_minimum_altitude(void);
+    void check_fbwb_minimum_altitude(void);
     void reset_offset_altitude(void);
     void set_offset_altitude_location(const Location &loc);
     bool above_location_current(const Location &loc);
diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp
index 9f7915f049..5113834418 100644
--- a/ArduPlane/altitude.cpp
+++ b/ArduPlane/altitude.cpp
@@ -312,7 +312,7 @@ int32_t Plane::calc_altitude_error_cm(void)
 /*
   check for FBWB_min_altitude_cm violation
  */
-void Plane::check_minimum_altitude(void)
+void Plane::check_fbwb_minimum_altitude(void)
 {
     if (g.FBWB_min_altitude_cm == 0) {
         return;
diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index a209f5b67a..55fca1f519 100644
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@@ -288,8 +288,7 @@ void Plane::update_fbwb_speed_height(void)
         target_altitude.last_elevator_input = elevator_input;
     }
     
-    // check for FBWB altitude limit
-    check_minimum_altitude();
+    check_fbwb_minimum_altitude();
 
     altitude_error_cm = calc_altitude_error_cm();