diff --git a/src/modules/commander/failsafe/framework.h b/src/modules/commander/failsafe/framework.h
index 07d46cbabf..9f989582f7 100644
--- a/src/modules/commander/failsafe/framework.h
+++ b/src/modules/commander/failsafe/framework.h
@@ -147,7 +147,7 @@ public:
 		       bool rc_sticks_takeover_request,
 		       const failsafe_flags_s &status_flags);
 
-	bool inFailsafe() const { return _selected_action != Action::None; }
+	bool inFailsafe() const { return (_selected_action != Action::None && _selected_action != Action::Warn); }
 
 	Action selectedAction() const { return _selected_action; }