From 598925f8d2dfb1d42a43e4e22a6c335eaa3f81e7 Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Sun, 18 Oct 2015 10:05:37 +0900
Subject: [PATCH] Copter: EKF failsafe action always Land if RC failsafe active

---
 ArduCopter/ekf_check.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp
index 8c6b575df0..b6cddb126e 100644
--- a/ArduCopter/ekf_check.cpp
+++ b/ArduCopter/ekf_check.cpp
@@ -141,7 +141,7 @@ void Copter::failsafe_ekf_event()
     switch (g.fs_ekf_action) {
         case FS_EKF_ACTION_ALTHOLD:
             // AltHold
-            if (!set_mode(ALT_HOLD)) {
+            if (failsafe.radio || !set_mode(ALT_HOLD)) {
                 set_mode_land_with_pause();
             }
             break;