diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index 32ff5e01b6..7eca015f34 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -221,7 +221,7 @@ void failsafeUpdateState(void)
                         failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_1_SECONDS;    // require 1 seconds of valid rxData
                         reprocessState = true;
                     } else if (!receivingRxData) {
-                        if (millis() > failsafeState.throttleLowPeriod) {
+                        if (millis() > failsafeState.throttleLowPeriod && failsafeConfig()->failsafe_procedure != FAILSAFE_PROCEDURE_GPS_RESCUE) {
                             // JustDisarm: throttle was LOW for at least 'failsafe_throttle_low_delay' seconds
                             failsafeActivate();
                             failsafeState.phase = FAILSAFE_LANDED;      // skip auto-landing procedure