diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 5c84e72e7c..2e75c48104 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -672,6 +672,15 @@ class AutoTestCopter(AutoTest):
         
     # Tests all actions and logic behind the GCS failsafe
     def fly_gcs_failsafe(self, side=60, timeout=360):
+        try:
+            self.test_gcs_failsafe(side=side, timeout=timeout)
+        except Exception as ex:
+            self.setGCSfailsafe(0)
+            self.set_parameter('FS_OPTIONS', 0)
+            self.reboot_sitl()
+            raise ex
+
+    def test_gcs_failsafe(self, side=60, timeout=360):
         # Trigger telemety loss with failsafe disabled. Verify no action taken.
         self.start_subtest("GCS failsafe disabled test: FS_GCS_ENABLE=0 should take no failsafe action")
         self.setGCSfailsafe(0)