diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index 4b5f75f501..ee39176b5d 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -378,7 +378,7 @@ static bool failsafeCheckStickMotion(void)
 
 static failsafeProcedure_e failsafeChooseFailsafeProcedure(void)
 {
-    if (FLIGHT_MODE(NAV_WP_MODE) && !failsafeConfig()->failsafe_mission) {
+    if ((FLIGHT_MODE(NAV_WP_MODE) || isWaypointMissionRTHActive()) && !failsafeConfig()->failsafe_mission) {
         return FAILSAFE_PROCEDURE_NONE;
     }