Failsafe on the ground results in takeoff

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If a throttle failsafe happens on the ground while the motors are armed, and 
the first line in the mission is TAKEOFF, auto mode is set, and results in the 
copter taking off and hovering at the altitude set in the TAKEOFF command.

I Calling attention to this as it may get lost in the monster arducppter 2.1.1 
thread.

AC 2.1.1r7 (alpha)

http://www.diydrones.com/forum/topics/arducopter-2-1-1-alpha?commentId=705844%3A
Comment%3A752978

Original issue reported on code.google.com by d...@w1ngz.net on 7 Jan 2012 at 5:38

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What is your receiver doing when it loses the signal?

Original comment by philcole...@gmail.com on 9 Jan 2012 at 10:12

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[deleted comment]

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My receiver isn't doing much of anything. The light is on, and when I turn the 
Tx off, the light goes off, and the Rx sends appropriate failsafe (PWM=900) to 
the APM.

To be clear here, I caused the failsafe intentionally (ok.. it was by accident 
the first time, shhh!), I'm not trying to debug a Tx/Rx problem.

Original comment by d...@w1ngz.net on 9 Jan 2012 at 10:19

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same here. if copter is on the ground (throttle at 0), motors are armed and 
remote turned off, copter is taking off and going in to failsafe. 
this makes no sense, and nearly chopped my head off, since it also takes 3 sec 
to detect the fail safe, you can start approaching the copter, furthermore even 
if one is to turn back on the remote once you understand your mistake it takes 
few seconds to gain control back. 
so this is a very dangerous mistake to do, and i think should be of a higher 
priority.

Original comment by s...@sefi.tk on 4 Dec 2012 at 9:48