baseflight failsafe, tehty oikein

        // Failsafe routine
        if (feature(FEATURE_FAILSAFE) || feature(FEATURE_FW_FAILSAFE_RTH)) {
            if (failsafeCnt > (5 * cfg.failsafe_delay) && f.ARMED) { // Stabilize, and set Throttle to specified level
                for (i = 0; i < 3; i++)
                    rcData[i] = mcfg.midrc;      // after specified guard time after RC signal is lost (in 0.1sec)
                rcData[THROTTLE] = cfg.failsafe_throttle;
                buzzer(BUZZER_TX_LOST_ARMED);
                if ((failsafeCnt > 5 * (cfg.failsafe_delay + cfg.failsafe_off_delay)) && !f.FW_FAILSAFE_RTH_ENABLE) {  // Turn OFF motors after specified Time (in 0.1sec)
                    mwDisarm();             // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
                    f.OK_TO_ARM = 0;        // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
                    buzzer(BUZZER_TX_LOST);
                }
                failsafeEvents++;
            }
            if (failsafeCnt > (5 * cfg.failsafe_delay) && !f.ARMED) {  // Turn off "Ok To arm to prevent the motors from spinning after repowering the RX with low throttle and aux to arm
                mwDisarm();         // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
                f.OK_TO_ARM = 0;    // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
                buzzer(BUZZER_TX_LOST);
            }
            failsafeCnt++;
        }
        // end of failsafe routine - next change is made with RcOptions setting