diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 005fca246e..b402e5756e 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1247,28 +1247,27 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         // allow override of RC channel values for HIL
         // or for complete GCS control of switch position
         // and RC PWM values.
-        if(msg->sysid != plane.g.sysid_my_gcs) break;                         // Only accept control from our gcs
+        if(msg->sysid != plane.g.sysid_my_gcs) {
+            break; // Only accept control from our gcs
+        }
+
+        uint32_t tnow = AP_HAL::millis();
+
         mavlink_rc_channels_override_t packet;
-        bool override_active = false;
         mavlink_msg_rc_channels_override_decode(msg, &packet);
 
-        override_active |= RC_Channels::set_override(0, packet.chan1_raw);
-        override_active |= RC_Channels::set_override(1, packet.chan2_raw);
-        override_active |= RC_Channels::set_override(2, packet.chan3_raw);
-        override_active |= RC_Channels::set_override(3, packet.chan4_raw);
-        override_active |= RC_Channels::set_override(4, packet.chan5_raw);
-        override_active |= RC_Channels::set_override(5, packet.chan6_raw);
-        override_active |= RC_Channels::set_override(6, packet.chan7_raw);
-        override_active |= RC_Channels::set_override(7, packet.chan8_raw);
-
-        if (override_active) {
-            plane.failsafe.last_valid_rc_ms = AP_HAL::millis();
-            plane.failsafe.AFS_last_valid_rc_ms =  plane.failsafe.last_valid_rc_ms;
-        }
+        RC_Channels::set_override(0, packet.chan1_raw, tnow);
+        RC_Channels::set_override(1, packet.chan2_raw, tnow);
+        RC_Channels::set_override(2, packet.chan3_raw, tnow);
+        RC_Channels::set_override(3, packet.chan4_raw, tnow);
+        RC_Channels::set_override(4, packet.chan5_raw, tnow);
+        RC_Channels::set_override(5, packet.chan6_raw, tnow);
+        RC_Channels::set_override(6, packet.chan7_raw, tnow);
+        RC_Channels::set_override(7, packet.chan8_raw, tnow);
 
         // a RC override message is consiered to be a 'heartbeat' from
         // the ground station for failsafe purposes
-        plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
+        plane.failsafe.last_heartbeat_ms = tnow;
         break;
     }
 
@@ -1285,24 +1284,20 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
             break; // only accept messages aimed at us
         }
 
-        bool override_active = false;
+        uint32_t tnow = AP_HAL::millis();
+
         int16_t roll = (packet.y == INT16_MAX) ? 0 : plane.channel_roll->get_radio_min() + (plane.channel_roll->get_radio_max() - plane.channel_roll->get_radio_min()) * (packet.y + 1000) / 2000.0f;
         int16_t pitch = (packet.x == INT16_MAX) ? 0 : plane.channel_pitch->get_radio_min() + (plane.channel_pitch->get_radio_max() - plane.channel_pitch->get_radio_min()) * (-packet.x + 1000) / 2000.0f;
         int16_t throttle = (packet.z == INT16_MAX) ? 0 : plane.channel_throttle->get_radio_min() + (plane.channel_throttle->get_radio_max() - plane.channel_throttle->get_radio_min()) * (packet.z) / 1000.0f;
         int16_t yaw = (packet.r == INT16_MAX) ? 0 : plane.channel_rudder->get_radio_min() + (plane.channel_rudder->get_radio_max() - plane.channel_rudder->get_radio_min()) * (packet.r + 1000) / 2000.0f;
 
-        override_active |= RC_Channels::set_override(uint8_t(plane.rcmap.roll() - 1), roll);
-        override_active |= RC_Channels::set_override(uint8_t(plane.rcmap.pitch() - 1), pitch);
-        override_active |= RC_Channels::set_override(uint8_t(plane.rcmap.throttle() - 1), throttle);
-        override_active |= RC_Channels::set_override(uint8_t(plane.rcmap.yaw() - 1), yaw);
+        RC_Channels::set_override(uint8_t(plane.rcmap.roll() - 1), roll, tnow);
+        RC_Channels::set_override(uint8_t(plane.rcmap.pitch() - 1), pitch, tnow);
+        RC_Channels::set_override(uint8_t(plane.rcmap.throttle() - 1), throttle, tnow);
+        RC_Channels::set_override(uint8_t(plane.rcmap.yaw() - 1), yaw, tnow);
 
-        if (override_active) {
-            plane.failsafe.last_valid_rc_ms = AP_HAL::millis();
-            plane.failsafe.AFS_last_valid_rc_ms =  plane.failsafe.last_valid_rc_ms;
-        }
-        
         // a manual control message is considered to be a 'heartbeat' from the ground station for failsafe purposes
-        plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
+        plane.failsafe.last_heartbeat_ms = tnow;
         break;
     }