diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index a70f72d867..add9b5c087 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -145,42 +145,59 @@ void failsafeUpdateState(void)
         failsafeState.active = false;
     }
 
-    switch (failsafeState.phase) {
-        case FAILSAFE_IDLE:
-            if (!receivingRxData && armed) {
-                failsafeState.phase = FAILSAFE_RX_LOSS_DETECTED;
-            }
-            break;
 
-        case FAILSAFE_RX_LOSS_DETECTED:
-            if (failsafeShouldForceLanding(armed)) {
-                // Stabilize, and set Throttle to specified level
-                failsafeActivate();
-            }
-            break;
+    bool reprocessState;
 
-        case FAILSAFE_LANDING:
-            if (armed) {
-                failsafeApplyControlInput();
-            }
+    do {
+        reprocessState = false;
 
-            if (failsafeShouldHaveCausedLandingByNow() || !armed) {
+        switch (failsafeState.phase) {
+            case FAILSAFE_IDLE:
+                if (!receivingRxData && armed) {
+                    failsafeState.phase = FAILSAFE_RX_LOSS_DETECTED;
+
+                    reprocessState = true;
+                }
+                break;
+
+            case FAILSAFE_RX_LOSS_DETECTED:
+                if (failsafeShouldForceLanding(armed)) {
+                    // Stabilize, and set Throttle to specified level
+                    failsafeActivate();
+
+                    reprocessState = true;
+                }
+                break;
+
+            case FAILSAFE_LANDING:
+                if (armed) {
+                    failsafeApplyControlInput();
+                }
+
+                if (failsafeShouldHaveCausedLandingByNow() || !armed) {
+
+                    failsafeState.phase = FAILSAFE_LANDED;
+
+                    reprocessState = true;
+
+                }
+                break;
+
+            case FAILSAFE_LANDED:
+
+                // This will prevent the automatic rearm if failsafe shuts it down and prevents
+                // to restart accidently by just reconnect to the tx - you will have to switch off first to rearm
+                ENABLE_ARMING_FLAG(PREVENT_ARMING);
 
-                failsafeState.phase = FAILSAFE_LANDED;
                 failsafeState.active = false;
                 mwDisarm();
-            }
-            break;
 
-        case FAILSAFE_LANDED:
-            // This will prevent the automatic rearm if failsafe shuts it down and prevents
-            // to restart accidently by just reconnect to the tx - you will have to switch off first to rearm
-            ENABLE_ARMING_FLAG(PREVENT_ARMING);
-            break;
+                break;
 
-        default:
-            break;
-    }
+            default:
+                break;
+        }
+    } while (reprocessState);
 
 }
 
diff --git a/src/test/unit/flight_failsafe_unittest.cc b/src/test/unit/flight_failsafe_unittest.cc
index 2ba6cf31b3..c9034b06e4 100644
--- a/src/test/unit/flight_failsafe_unittest.cc
+++ b/src/test/unit/flight_failsafe_unittest.cc
@@ -162,19 +162,23 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenReceivingData)
 
 TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndStartsLanding)
 {
+
     // given
     ENABLE_ARMING_FLAG(ARMED);
 
-    // FIXME one more cycle currently needed
     // when
     failsafeOnRxCycleStarted();
     // no call to failsafeOnValidDataReceived();
+
     failsafeUpdateState();
 
     // then
     EXPECT_EQ(false, failsafeIsActive());
     EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
 
+    //
+    // currently one cycle must occur (above) so that the next cycle (below) can detect the lack of an update.
+    //
 
     // when
     for (int i = 0; i < FAILSAFE_UPDATE_HZ - 1; i++) {
@@ -190,7 +194,10 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndStartsLanding)
 
     }
 
-    // FIXME one more cycle currently needed
+    //
+    // one more cycle currently needed before the counter is re-checked.
+    //
+
     // when
     failsafeOnRxCycleStarted();
     // no call to failsafeOnValidDataReceived();
@@ -220,7 +227,6 @@ TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
 
     }
 
-    // FIXME one more cycle currently needed
     // when
     failsafeOnRxCycleStarted();
     // no call to failsafeOnValidDataReceived();
@@ -230,15 +236,6 @@ TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
     EXPECT_EQ(false, failsafeIsActive());
     EXPECT_EQ(FAILSAFE_LANDED, failsafePhase());
     EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
-    // FIXME one more cycle currently needed
-    EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING));
-
-    // when
-    failsafeOnRxCycleStarted();
-    // no call to failsafeOnValidDataReceived();
-    failsafeUpdateState();
-
-    // then
     EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
 
 }