From 87c6545ac60f700144d1c1df51b591635b78583e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 9 Mar 2013 13:48:21 +1100
Subject: [PATCH] Plane: don't trigger GCS failsafe if GCS never connected

The we have never received a heartbeat message from the GCS then don't
use the lack of heartbeat to trigger a failsafe event
---
 ArduPlane/system.pde | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index f54af45e07..ad94985ec9 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -393,6 +393,7 @@ static void check_long_failsafe()
             failsafe_long_on_event(FAILSAFE_LONG);
         }
         if (g.gcs_heartbeat_fs_enabled && 
+            last_heartbeat_ms != 0 &&
             (tnow - last_heartbeat_ms) > FAILSAFE_LONG_TIME) {
             failsafe_long_on_event(FAILSAFE_GCS);
         }