diff --git a/UAV-ControlSystem/inc/drivers/failsafe_toggles.h b/UAV-ControlSystem/inc/drivers/failsafe_toggles.h
index 2c6e72f..aa2fe29 100644
--- a/UAV-ControlSystem/inc/drivers/failsafe_toggles.h
+++ b/UAV-ControlSystem/inc/drivers/failsafe_toggles.h
@@ -28,12 +28,13 @@
 #define getFlagMaskValue(x)							(1 << x)
 
 #define failSafe_vals_offset 						0		//offset for the fail safe values in the bitfield
-#define boolean_vals_offset							2		//offset for the booleans values in the bitfield
+#define boolean_vals_offset							3		//offset for the booleans values in the bitfield
 
 /*If a new value is added to the bitfield these IDs must be reviewed and checkd so that they still are correct*/
 //failsafe values
 #define systemFlags_Failsafe_rcChannelInRange_id	0	+ failSafe_vals_offset
 #define systemFlags_Failsafe_noRcReceived_id		1	+ failSafe_vals_offset
+#define systemFlags_Failsafe_toManyMissedFrames_id	2	+ failSafe_vals_offset
 
 //other flags
 #define systemFlags_armed_id						0	+ boolean_vals_offset
@@ -48,18 +49,19 @@
 
 /*Mask values for each of the flag values*/
 //failsafe values
-#define systemFlags_Failsafe_rcChannelInRange_mask	getFlagMaskValue(systemFlags_Failsafe_rcChannelInRange_id)
-#define systemFlags_Failsafe_noRcReceived_mask		getFlagMaskValue(systemFlags_Failsafe_noRcReceived_id)
+#define systemFlags_Failsafe_rcChannelInRange_mask		getFlagMaskValue(systemFlags_Failsafe_rcChannelInRange_id)
+#define systemFlags_Failsafe_noRcReceived_mask			getFlagMaskValue(systemFlags_Failsafe_noRcReceived_id)
+#define systemFlags_Failsafe_toManyMissedFrames_mask 	getFlagMaskValue(systemFlags_Failsafe_toManyMissedFrames_id)
 
 //other flags
-#define systemFlags_armed_mask						getFlagMaskValue(systemFlags_armed_id)
-#define systemFlags_flightmode_acceleromter_mask	getFlagMaskValue(systemFlags_flightmode_acceleromter_id)
-#define systemFlags_flightmode_barometer_mask	 	getFlagMaskValue(systemFlags_flightmode_barometer_id)
-#define systemFlags_flightmode_compass_mask	 		getFlagMaskValue(systemFlags_flightmode_compass_id)
-#define systemFlags_flightmode_gps_mask		 		getFlagMaskValue(systemFlags_flightmode_gps_id)
-#define systemFlags_mixerfullscale_mask				getFlagMaskValue(systemFlags_mixerfullscale_id)
-#define systemFlags_mixerlowscale_mask				getFlagMaskValue(systemFlags_mixerlowscale_id)
-#define systemFlags_flightMode_3_mask				getFlagMaskValue(systemFlags_flightMode_3_id)
+#define systemFlags_armed_mask							getFlagMaskValue(systemFlags_armed_id)
+#define systemFlags_flightmode_acceleromter_mask		getFlagMaskValue(systemFlags_flightmode_acceleromter_id)
+#define systemFlags_flightmode_barometer_mask	 		getFlagMaskValue(systemFlags_flightmode_barometer_id)
+#define systemFlags_flightmode_compass_mask	 			getFlagMaskValue(systemFlags_flightmode_compass_id)
+#define systemFlags_flightmode_gps_mask		 			getFlagMaskValue(systemFlags_flightmode_gps_id)
+#define systemFlags_mixerfullscale_mask					getFlagMaskValue(systemFlags_mixerfullscale_id)
+#define systemFlags_mixerlowscale_mask					getFlagMaskValue(systemFlags_mixerlowscale_id)
+#define systemFlags_flightMode_3_mask					getFlagMaskValue(systemFlags_flightMode_3_id)
 
 
 
diff --git a/UAV-ControlSystem/src/drivers/motormix.c b/UAV-ControlSystem/src/drivers/motormix.c
index 1eceb28..6eedd11 100644
--- a/UAV-ControlSystem/src/drivers/motormix.c
+++ b/UAV-ControlSystem/src/drivers/motormix.c
@@ -254,7 +254,7 @@ void mix()
 	for (int i = 0; i < MOTOR_COUNT; i++)
 	{
 		/* If engines are armed then give the output to the motors */
-		if (flags_IsSet_ID(systemFlags_armed_id))
+		if (flags_IsSet_ID(systemFlags_armed_id) && !flags_IsSet_ID(systemFlags_Failsafe_noRcReceived_id))
 			motor_output[i] = constrain(motor_output[i], mixerConfig.minCommand, mixerConfig.maxCommand);
 		/* If not then stop motors */
 		else
diff --git a/UAV-ControlSystem/src/tasks_main.c b/UAV-ControlSystem/src/tasks_main.c
index b40d9ac..64b57ad 100644
--- a/UAV-ControlSystem/src/tasks_main.c
+++ b/UAV-ControlSystem/src/tasks_main.c
@@ -99,6 +99,16 @@ void systemTaskRx(void)
 //	RawRcCommand.Yaw = frame.chan4;
 //	RawRcCommand.Throttle = frame.chan4;
 
+	/* -- Check failsafe for RX -- */
+	//check no received message
+	(frame.flag_Failsafe) ? flags_Set_ID(systemFlags_Failsafe_noRcReceived_id) : flags_Clear_ID(systemFlags_Failsafe_noRcReceived_id);
+
+	//check missed frames
+	static int continuousMissedFrames = 0;
+	continuousMissedFrames = (frame.flag_FrameLost) ? continuousMissedFrames + 1 : 0;
+	(continuousMissedFrames > 10) ? flags_Set_ID(systemFlags_Failsafe_toManyMissedFrames_id) : flags_Clear_ID(systemFlags_Failsafe_toManyMissedFrames_id);
+
+
 }
 
 bool systemTaskRxCheck(uint32_t currentDeltaTime)
@@ -111,22 +121,23 @@ bool systemTaskRxCheck(uint32_t currentDeltaTime)
 
 
 	bool isReady = sbus_frame_available();
-	if (isReady == true)
-	{
-		flags_Clear_ID(systemFlags_Failsafe_noRcReceived_id);
-		lastRecievedCommand = clock_get_us();
-		return isReady;
-	}
-	else
-	{
-		//check for failsafe
-		if ((clock_get_us() - lastRecievedCommand) > maxReceiveTrigger)
-		{
-			flags_Set_ID(systemFlags_Failsafe_noRcReceived_id);
-		}
-
-		return isReady;
-	}
+//	if (isReady == true)
+//	{
+//		flags_Clear_ID(systemFlags_Failsafe_noRcReceived_id);
+//		lastRecievedCommand = clock_get_us();
+//		return isReady;
+//	}
+//	else
+//	{
+//		//check for failsafe
+//		if ((clock_get_us() - lastRecievedCommand) > maxReceiveTrigger)
+//		{
+//			flags_Set_ID(systemFlags_Failsafe_noRcReceived_id);
+//		}
+//
+//		return isReady;
+//	}
+	return isReady;
 
 }