diff --git a/docs/Failsafe.md b/docs/Failsafe.md
index 65332638c..56a718135 100644
--- a/docs/Failsafe.md
+++ b/docs/Failsafe.md
@@ -14,6 +14,10 @@ It is possible to use both types at the same time and may be desirable.  Flight
 
 ## Flight controller failsafe system 
 
+The failsafe system is not activated until 5 seconds after the flight controller boots up.  This is to prevent failsafe from activating in the case of TX/RX gear with long bind procedures before they send out valid data.
+
+After the failsafe has been forced a landing, the flight controller cannot be armed and has to be reset.
+ 
 The failsafe system attempts to detect when your receiver looses signal.  It then attempts to prevent your aircraft from flying away uncontrollably.
 
 The failsafe is activated when:
@@ -28,7 +32,6 @@ Failsafe delays are configured in 0.1 second steps.
 1 step = 0.1sec
 1 second = 10 steps
 
-
 ### `failsafe_delay`
 
 Guard time for failsafe activation after signal lost.
diff --git a/src/failsafe.c b/src/failsafe.c
index 3422e27cc..c6fcdde7c 100644
--- a/src/failsafe.c
+++ b/src/failsafe.c
@@ -17,6 +17,8 @@
  *
  * failsafeInit() and useFailsafeConfig() can be called in any order.
  * failsafeInit() should only be called once.
+ *
+ * enable() should be called after system initialisation.
  */
 
 static failsafe_t failsafe;
@@ -47,6 +49,7 @@ failsafe_t* failsafeInit(rxConfig_t *intialRxConfig)
 
     failsafe.vTable = failsafeVTable;
     failsafe.events = 0;
+    failsafe.enabled = false;
 
     return &failsafe;
 }
@@ -56,6 +59,16 @@ bool isIdle(void)
     return failsafe.counter == 0;
 }
 
+bool isEnabled(void)
+{
+    return failsafe.enabled;
+}
+
+void enable(void)
+{
+    failsafe.enabled = true;
+}
+
 bool hasTimerElapsed(void)
 {
     return failsafe.counter > (5 * failsafeConfig->failsafe_delay);
@@ -73,8 +86,9 @@ bool shouldHaveCausedLandingByNow(void)
 
 void failsafeAvoidRearm(void)
 {
-    mwDisarm();             // This will prevent the automatic rearm if failsafe shuts it down and prevents
-    f.OK_TO_ARM = 0;        // to restart accidently by just reconnect to the tx - you will have to switch off first to rearm
+    // 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
+    f.PREVENT_ARMING = 1;
 }
 
 void onValidDataReceived(void)
@@ -93,7 +107,14 @@ void updateState(void)
         return;
     }
 
+    if (!isEnabled()) {
+        reset();
+        return;
+    }
+
     if (shouldForceLanding(f.ARMED)) { // Stabilize, and set Throttle to specified level
+        failsafeAvoidRearm();
+
         for (i = 0; i < 3; i++) {
             rcData[i] = rxConfig->midrc;      // after specified guard time after RC signal is lost (in 0.1sec)
         }
@@ -102,7 +123,7 @@ void updateState(void)
     }
 
     if (shouldHaveCausedLandingByNow() || !f.ARMED) {
-        failsafeAvoidRearm();
+        mwDisarm();
     }
 }
 
@@ -138,7 +159,9 @@ const failsafeVTable_t failsafeVTable[] = {
         incrementCounter,
         updateState,
         isIdle,
-        failsafeCheckPulse
+        failsafeCheckPulse,
+        isEnabled,
+        enable
     }
 };
 
diff --git a/src/failsafe.h b/src/failsafe.h
index 579ae8347..6a1849c62 100644
--- a/src/failsafe.h
+++ b/src/failsafe.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#define FAILSAFE_POWER_ON_DELAY_US (1000 * 1000 * 5)
+
 typedef struct failsafeConfig_s {
     uint8_t failsafe_delay;                 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
     uint8_t failsafe_off_delay;             // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example (200)
@@ -17,6 +19,8 @@ typedef struct failsafeVTable_s {
     void (*updateState)(void);
     bool (*isIdle)(void);
     void (*checkPulse)(uint8_t channel, uint16_t pulseDuration);
+    bool (*isEnabled)(void);
+    void (*enable)(void);
 
 } failsafeVTable_t;
 
@@ -25,6 +29,7 @@ typedef struct failsafe_s {
 
     int16_t counter;
     int16_t events;
+    bool enabled;
 } failsafe_t;
 
 void useFailsafeConfig(failsafeConfig_t *failsafeConfigToUse);
diff --git a/src/flight_common.c b/src/flight_common.c
index b1320a4c6..408cba1a4 100644
--- a/src/flight_common.c
+++ b/src/flight_common.c
@@ -28,12 +28,6 @@ typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig
 
 pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
 
-void mwDisarm(void)
-{
-    if (f.ARMED)
-        f.ARMED = 0;
-}
-
 void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
 {
     rollAndPitchTrims->trims.roll = 0;
diff --git a/src/flight_common.h b/src/flight_common.h
index 2f1c4fc16..61e481b18 100644
--- a/src/flight_common.h
+++ b/src/flight_common.h
@@ -108,7 +108,6 @@ extern int32_t AltHold;
 extern int32_t EstAlt;
 extern int32_t vario;
 
-void mwDisarm(void);
 void setPIDController(int type);
 void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
 void resetErrorAngle(void);
diff --git a/src/main.c b/src/main.c
index 9ff37f71f..69d515cd7 100755
--- a/src/main.c
+++ b/src/main.c
@@ -228,6 +228,7 @@ void init(void)
 #endif
 
     f.SMALL_ANGLE = 1;
+    f.PREVENT_ARMING = 0;
 
 #ifdef SOFTSERIAL_LOOPBACK
     // FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
diff --git a/src/mw.c b/src/mw.c
index cfd0136b3..19a8317fb 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -80,9 +80,47 @@ bool AccInflightCalibrationSavetoEEProm = false;
 bool AccInflightCalibrationActive = false;
 uint16_t InflightcalibratingA = 0;
 
+bool isCalibrating()
+{
+#ifdef BARO
+    if (sensors(SENSOR_ACC) && !isBaroCalibrationComplete()) {
+        return false;
+    }
+#endif
+
+    // Note: compass calibration is handled completely differently, outside of the main loop, see f.CALIBRATE_MAG
+
+    return (!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
+}
+
+static uint32_t warningLedTimer = 0;
+
+void enableWarningLed(uint32_t currentTime)
+{
+    if (warningLedTimer != 0) {
+        return; // already enabled
+    }
+    warningLedTimer = currentTime + 500000;
+    LED0_ON;
+}
+
+void disableWarningLed(void)
+{
+    warningLedTimer = 0;
+    LED0_OFF;
+}
+
+void updateWarningLed(uint32_t currentTime)
+{
+    if (warningLedTimer && (int32_t)(currentTime - warningLedTimer) >= 0) {
+        LED0_TOGGLE;
+        warningLedTimer = warningLedTimer + 500000;
+    }
+}
+
+
 void annexCode(void)
 {
-    static uint32_t calibratedAccTime;
     int32_t tmp, tmp2;
     int32_t axis, prop1, prop2;
 
@@ -160,17 +198,31 @@ void annexCode(void)
 
     buzzer(batteryWarningEnabled); // external buzzer routine that handles buzzer events globally now
 
-    if ((!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete())) {      // Calibration phasis
-        LED0_TOGGLE;
+    if (f.ARMED) {
+        LED0_ON;
     } else {
-        if (f.ACC_CALIBRATED)
-            LED0_OFF;
-        if (f.ARMED)
-            LED0_ON;
+        if (isCalibrating()) {
+            LED0_TOGGLE;
+            f.OK_TO_ARM = 0;
+        }
 
-        checkTelemetryState();
+        f.OK_TO_ARM = 1;
+
+        if (!f.ARMED && !f.SMALL_ANGLE) {
+            f.OK_TO_ARM = 0;
+        }
+
+        if (f.OK_TO_ARM) {
+            disableWarningLed();
+        } else {
+            enableWarningLed(currentTime);
+        }
+
+        updateWarningLed(currentTime);
     }
 
+    checkTelemetryState();
+
 #ifdef LEDRING
     if (feature(FEATURE_LED_RING)) {
         static uint32_t LEDTime;
@@ -181,15 +233,6 @@ void annexCode(void)
     }
 #endif
 
-    if ((int32_t)(currentTime - calibratedAccTime) >= 0) {
-        if (!f.SMALL_ANGLE) {
-            f.ACC_CALIBRATED = 0; // the multi uses ACC and is not calibrated or is too much inclinated
-            LED0_TOGGLE;
-            calibratedAccTime = currentTime + 500000;
-        } else {
-            f.ACC_CALIBRATED = 1;
-        }
-    }
 
     handleSerial();
 
@@ -204,21 +247,32 @@ void annexCode(void)
         // TODO MCU temp
     }
 }
-
-static void mwArm(void)
+
+void mwDisarm(void)
 {
-    if (isGyroCalibrationComplete() && f.ACC_CALIBRATED) {
-        // TODO: feature(FEATURE_FAILSAFE) && failsafeCnt < 2
-        // TODO: && ( !feature || ( feature && ( failsafecnt > 2) )
-        if (!f.ARMED) {         // arm now!
+    if (f.ARMED)
+        f.ARMED = 0;
+}
+
+void mwArm(void)
+{
+    if (f.OK_TO_ARM) {
+        if (f.ARMED) {
+            return;
+        }
+        if (!f.PREVENT_ARMING) {
             f.ARMED = 1;
             headFreeModeHold = heading;
+            return;
         }
-    } else if (!f.ARMED) {
+    }
+
+    if (!f.ARMED) {
         blinkLedAndSoundBeeper(2, 255, 1);
     }
 }
 
+
 static void mwVario(void)
 {
 
@@ -256,6 +310,11 @@ void loop(void)
         }
 
         if (feature(FEATURE_FAILSAFE)) {
+
+            if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafe->vTable->isEnabled()) {
+                failsafe->vTable->enable();
+            }
+
             failsafe->vTable->updateState();
         }
 
@@ -428,8 +487,6 @@ void loop(void)
             f.HORIZON_MODE = 0;
         }
 
-        if ((rcOptions[BOXARM]) == 0)
-            f.OK_TO_ARM = 1;
         if (f.ANGLE_MODE || f.HORIZON_MODE) {
             LED1_ON;
         } else {
diff --git a/src/runtime_config.h b/src/runtime_config.h
index 8e42ec91d..2d8b37aeb 100644
--- a/src/runtime_config.h
+++ b/src/runtime_config.h
@@ -30,8 +30,8 @@ extern uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
 // FIXME some of these are flight modes, some of these are general status indicators
 typedef struct flags_t {
     uint8_t OK_TO_ARM;
+    uint8_t PREVENT_ARMING;
     uint8_t ARMED;
-    uint8_t ACC_CALIBRATED;
     uint8_t ANGLE_MODE;
     uint8_t HORIZON_MODE;
     uint8_t MAG_MODE;