Copter: tidy radio throttle failsafe code

Author: peterbarker

ArduCopter/radio.cpp

@@ -133,9 +133,12 @@ void Copter::set_throttle_and_failsafe(uint16_t throttle_pwm)
 
     //check for low throttle value
     if (throttle_pwm < (uint16_t)g.failsafe_throttle_value) {
-
-        // if we are already in failsafe or motors not armed pass through throttle and exit
-        if (failsafe.radio || !(rc().has_ever_seen_rc_input() || motors->armed())) {
+        if (failsafe.radio) {
+            // already in failsafe, and we should stay there
+            return;
+        }
+        if (!rc().has_ever_seen_rc_input()) {
+            // do not failsafe if we have never seen RC
             return;
         }