diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde
index a0205b7f85..c1095b9da4 100644
--- a/ArduCopter/radio.pde
+++ b/ArduCopter/radio.pde
@@ -124,6 +124,8 @@ void output_min()
     motors.enable();
     motors.output_min();
 }
+
+#define RADIO_FS_TIMEOUT_MS 2000       // 2 seconds
 static void read_radio()
 {
     if (APM_RC.GetState() == 1) {
@@ -143,6 +145,11 @@ static void read_radio()
         // limit our input to 800 so we can still pitch and roll
         g.rc_3.control_in = min(g.rc_3.control_in, MAXIMUM_THROTTLE);
 #endif
+    }else{
+        // turn on throttle failsafe if no update from ppm encoder for 2 seconds
+        if ((millis() - APM_RC.get_last_update() >= RADIO_FS_TIMEOUT_MS) && g.throttle_fs_enabled && motors.armed() && !ap.failsafe) {
+            set_failsafe(true);
+        }
     }
 }
 
diff --git a/libraries/APM_RC/APM_RC.cpp b/libraries/APM_RC/APM_RC.cpp
new file mode 100644
index 0000000000..ac016dfa4e
--- /dev/null
+++ b/libraries/APM_RC/APM_RC.cpp
@@ -0,0 +1,9 @@
+/*
+ *       APM_RC_.cpp - Radio Control Library for Ardupilot Mega. Arduino
+ *       Code by Jordi Muņoz and Jose Julio. DIYDrones.com
+ *
+ */
+#include "APM_RC.h"
+
+uint32_t APM_RC_Class::_last_update;
+
diff --git a/libraries/APM_RC/APM_RC.h b/libraries/APM_RC/APM_RC.h
index 5f370e8d35..d74d5b487d 100644
--- a/libraries/APM_RC/APM_RC.h
+++ b/libraries/APM_RC/APM_RC.h
@@ -49,10 +49,14 @@ public:
     virtual void            Force_Out2_Out3(void) = 0;
     virtual void            Force_Out6_Out7(void) = 0;
 
+    // get the time of the last radio update
+    virtual uint32_t        get_last_update() { return _last_update; };
+
 protected:
     uint16_t                _map_speed(uint16_t speed_hz) {
         return 2000000UL / speed_hz;
     }
+    static uint32_t         _last_update;
 
 };
 
diff --git a/libraries/APM_RC/APM_RC_APM1.cpp b/libraries/APM_RC/APM_RC_APM1.cpp
index 0b86be58f9..73c4626d56 100644
--- a/libraries/APM_RC/APM_RC_APM1.cpp
+++ b/libraries/APM_RC/APM_RC_APM1.cpp
@@ -63,6 +63,7 @@ void APM_RC_APM1::_timer4_capt_cb(void)
 
             if (PPM_Counter >= NUM_CHANNELS) {
                 _radio_status = 1;
+                _last_update = millis();
             }
         }
     }
@@ -316,6 +317,7 @@ bool APM_RC_APM1::setHIL(int16_t v[NUM_CHANNELS])
         }
     }
     _radio_status = 1;
+    _last_update = millis();
     if (sum == 0) {
         return 0;
     } else {
diff --git a/libraries/APM_RC/APM_RC_APM2.cpp b/libraries/APM_RC/APM_RC_APM2.cpp
index 3ad1abff5e..389d10d07e 100644
--- a/libraries/APM_RC/APM_RC_APM2.cpp
+++ b/libraries/APM_RC/APM_RC_APM2.cpp
@@ -63,6 +63,7 @@ void APM_RC_APM2::_timer5_capt_cb(void)
             // If this is the last pulse in a frame, set _radio_status.
             if (frame_idx >= NUM_CHANNELS) {
                 _radio_status = 1;
+                _last_update = millis();
             }
         }
     }
@@ -308,12 +309,13 @@ bool APM_RC_APM2::setHIL(int16_t v[NUM_CHANNELS])
             sum++;
         }
     }
+    _radio_status = 1;
+    _last_update = millis();
     if (sum == 0) {
         return 0;
     } else {
         return 1;
     }
-    _radio_status = 1;
 }
 
 void APM_RC_APM2::clearOverride(void)