diff --git a/libraries/APM_OBC/APM_OBC.cpp b/libraries/APM_OBC/APM_OBC.cpp
index 56fb78ca70..6c0ad0aa83 100644
--- a/libraries/APM_OBC/APM_OBC.cpp
+++ b/libraries/APM_OBC/APM_OBC.cpp
@@ -97,7 +97,25 @@ const AP_Param::GroupInfo APM_OBC::var_info[] PROGMEM = {
     // @DisplayName: Enable Advanced Failsafe
     // @Description: This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect
     // @User: Advanced
-    AP_GROUPINFO("ENABLE",       11, APM_OBC, _enable,    0),
+    AP_GROUPINFO("ENABLE",       11, APM_OBC, _enable,          0),
+
+    // @Param: RC_FAIL_MS
+    // @DisplayName: RC failure time
+    // @Description: This is the time in milliseconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be 1500. Use 0 to disable.
+    // @User: Advanced
+    AP_GROUPINFO("RC_FAIL_MS",   12, APM_OBC, _rc_fail_time,    0),
+
+    // @Param: MAX_GPS_LOSS
+    // @DisplayName: Maximum number of GPS loss events
+    // @Description: Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.
+    // @User: Advanced
+    AP_GROUPINFO("MAX_GPS_LOSS", 13, APM_OBC, _max_gps_loss, 0),
+
+    // @Param: MAX_COM_LOSS
+    // @DisplayName: Maximum number of comms loss events
+    // @Description: Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.
+    // @User: Advanced
+    AP_GROUPINFO("MAX_COM_LOSS", 14, APM_OBC, _max_comms_loss, 0),
 
     AP_GROUPEND
 };
@@ -105,7 +123,7 @@ const AP_Param::GroupInfo APM_OBC::var_info[] PROGMEM = {
 // check for Failsafe conditions. This is called at 10Hz by the main
 // ArduPlane code
 void
-APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geofence_breached)
+APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geofence_breached, uint32_t last_valid_rc_ms)
 {    
     if (!_enable) {
         return;
@@ -117,6 +135,17 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
             _terminate.set(1);
         }
     }
+
+    // check for RC failure in manual mode
+    if (_state != STATE_PREFLIGHT && 
+        (mode == OBC_MANUAL || mode == OBC_FBW) && 
+        _rc_fail_time != 0 && 
+        (hal.scheduler->millis() - last_valid_rc_ms) > (unsigned)_rc_fail_time.get()) {
+        if (!_terminate) {
+            GCS_MAVLINK::send_statustext_all(PSTR("RC failure terminate"));
+            _terminate.set(1);
+        }
+    }
     
     // tell the failsafe board if we are in manual control
     // mode. This tells it to pass through controls from the
@@ -149,6 +178,11 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
                 _saved_wp = mission.get_current_nav_cmd().index;
                 mission.set_current_cmd(_wp_comms_hold);
             }
+            // if two events happen within 30s we consider it to be part of the same event
+            if (now - _last_comms_loss_ms > 30*1000UL) {
+                _comms_loss_count++;
+                _last_comms_loss_ms = now;
+            }
             break;
         }
         if (!gps_lock_ok) {
@@ -158,6 +192,11 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
                 _saved_wp = mission.get_current_nav_cmd().index;
                 mission.set_current_cmd(_wp_gps_loss);
             }
+            // if two events happen within 30s we consider it to be part of the same event
+            if (now - _last_gps_loss_ms > 30*1000UL) {
+                _gps_loss_count++;
+                _last_gps_loss_ms = now;
+            }
             break;
         }
         break;
@@ -173,7 +212,10 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
         } else if (gcs_link_ok) {
             _state = STATE_AUTO;
             GCS_MAVLINK::send_statustext_all(PSTR("GCS OK"));
-            if (_saved_wp != 0) {
+            // we only return to the mission if we have not exceeded AFS_MAX_COM_LOSS
+            if (_saved_wp != 0 && 
+                (_max_comms_loss <= 0 || 
+                 _comms_loss_count <= _max_comms_loss)) {
                 mission.set_current_cmd(_saved_wp);            
                 _saved_wp = 0;
             }
@@ -191,7 +233,10 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
         } else if (gps_lock_ok) {
             GCS_MAVLINK::send_statustext_all(PSTR("GPS OK"));
             _state = STATE_AUTO;
-            if (_saved_wp != 0) {
+            // we only return to the mission if we have not exceeded AFS_MAX_GPS_LOSS
+            if (_saved_wp != 0 &&
+                (_max_gps_loss <= 0 || 
+                 _gps_loss_count <= _max_gps_loss)) {
                 mission.set_current_cmd(_saved_wp);            
                 _saved_wp = 0;
             }
@@ -263,7 +308,7 @@ void APM_OBC::setup_failsafe(void)
     const RC_Channel *ch_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
 
     // setup primary channel output values
-    hal.rcout->set_failsafe_pwm(1U<<(rcmap.roll()-1),     ch_roll->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX));
+    hal.rcout->set_failsafe_pwm(1U<<(rcmap.roll()-1),     ch_roll->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN));
     hal.rcout->set_failsafe_pwm(1U<<(rcmap.pitch()-1),    ch_pitch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX));
     hal.rcout->set_failsafe_pwm(1U<<(rcmap.yaw()-1),      ch_yaw->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX));
     hal.rcout->set_failsafe_pwm(1U<<(rcmap.throttle()-1), ch_throttle->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN));
@@ -271,7 +316,7 @@ void APM_OBC::setup_failsafe(void)
     // and all aux channels
     RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_flap_auto, RC_Channel::RC_CHANNEL_LIMIT_MAX);
     RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_flap, RC_Channel::RC_CHANNEL_LIMIT_MAX);
-    RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_aileron, RC_Channel::RC_CHANNEL_LIMIT_MAX);
+    RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_aileron, RC_Channel::RC_CHANNEL_LIMIT_MIN);
     RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_rudder, RC_Channel::RC_CHANNEL_LIMIT_MAX);
     RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_elevator, RC_Channel::RC_CHANNEL_LIMIT_MAX);
     RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_elevator_with_input, RC_Channel::RC_CHANNEL_LIMIT_MAX);
@@ -307,7 +352,7 @@ void APM_OBC::check_crash_plane(void)
     RC_Channel *ch_yaw      = RC_Channel::rc_channel(rcmap.yaw()-1);
     RC_Channel *ch_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
 
-    ch_roll->radio_out     = ch_roll->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX);
+    ch_roll->radio_out     = ch_roll->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN);
     ch_pitch->radio_out    = ch_pitch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX);
     ch_yaw->radio_out      = ch_yaw->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX);
     ch_throttle->radio_out = ch_throttle->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN);
@@ -315,7 +360,7 @@ void APM_OBC::check_crash_plane(void)
     // and all aux channels
     RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_flap_auto, RC_Channel::RC_CHANNEL_LIMIT_MAX);
     RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_flap, RC_Channel::RC_CHANNEL_LIMIT_MAX);
-    RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_aileron, RC_Channel::RC_CHANNEL_LIMIT_MAX);
+    RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_aileron, RC_Channel::RC_CHANNEL_LIMIT_MIN);
     RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_rudder, RC_Channel::RC_CHANNEL_LIMIT_MAX);
     RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_elevator, RC_Channel::RC_CHANNEL_LIMIT_MAX);
     RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_elevator_with_input, RC_Channel::RC_CHANNEL_LIMIT_MAX);
diff --git a/libraries/APM_OBC/APM_OBC.h b/libraries/APM_OBC/APM_OBC.h
index 1054ba9956..b08ee8ce2e 100644
--- a/libraries/APM_OBC/APM_OBC.h
+++ b/libraries/APM_OBC/APM_OBC.h
@@ -52,7 +52,9 @@ public:
         mission(_mission),
         baro(_baro),
         gps(_gps),
-        rcmap(_rcmap)
+        rcmap(_rcmap),
+        _gps_loss_count(0),
+        _comms_loss_count(0)
         {
             AP_Param::setup_object_defaults(this, var_info);
             
@@ -62,7 +64,7 @@ public:
             _saved_wp = 0;
         }
 
-    void check(enum control_mode control_mode, uint32_t last_heartbeat_ms, bool geofence_breached);
+    void check(enum control_mode control_mode, uint32_t last_heartbeat_ms, bool geofence_breached, uint32_t last_valid_rc_ms);
 
     // called in servo output code to set servos to crash position if needed
     void check_crash_plane(void);
@@ -93,11 +95,26 @@ private:
     AP_Float _qnh_pressure;
     AP_Int32 _amsl_limit;
     AP_Int32 _amsl_margin_gps;
+    AP_Int16 _rc_fail_time;
+    AP_Int8  _max_gps_loss;
+    AP_Int8  _max_comms_loss;
 
     bool _heartbeat_pin_value;
 
     // saved waypoint for resuming mission
     uint8_t _saved_wp;
+    
+    // number of times we've lost GPS
+    uint8_t _gps_loss_count;
+
+    // number of times we've lost data link
+    uint8_t _comms_loss_count;
+
+    // last comms loss time
+    uint32_t _last_comms_loss_ms;
+
+    // last GPS loss time
+    uint32_t _last_gps_loss_ms;
 
     // have the failsafe values been setup?
     bool _failsafe_setup:1;
@@ -109,6 +126,6 @@ private:
 };
 
 // map from ArduPlane control_mode to APM_OBC::control_mode
-#define OBC_MODE(control_mode) ((control_mode==AUTO?APM_OBC::OBC_AUTO:control_mode==MANUAL?APM_OBC::OBC_MANUAL:APM_OBC::OBC_FBW))
+#define OBC_MODE(control_mode) (auto_throttle_mode?APM_OBC::OBC_AUTO:(control_mode==MANUAL?APM_OBC::OBC_MANUAL:APM_OBC::OBC_FBW))
 
 #endif // APM_OBC_H