diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index a64d99cd49..1149f735f3 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -220,11 +220,8 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
 void publish_armed_status(const struct vehicle_status_s *current_status) {
 	struct actuator_armed_s armed;
 	armed.armed = current_status->flag_system_armed;
-	/* lock down actuators if required */
-	// XXX FIXME Currently any loss of RC will completely disable all actuators
-	// needs proper failsafe
-	armed.lockdown = ((current_status->rc_signal_lost && current_status->offboard_control_signal_lost)
-	 || current_status->flag_hil_enabled) ? true : false;
+	/* lock down actuators if required, only in HIL */
+	armed.lockdown = (current_status->flag_hil_enabled) ? true : false;
 	orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
 	orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
 }
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 3b05bfa25a..2623673705 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -184,7 +184,13 @@ mc_thread_main(int argc, char *argv[])
 						rates_sp.roll = offboard_sp.p1;
 						rates_sp.pitch = offboard_sp.p2;
 						rates_sp.yaw = offboard_sp.p3;
-						rates_sp.thrust = offboard_sp.p4;
+						if (state.offboard_control_signal_lost) {
+							/* give up in rate mode on signal loss */
+							rates_sp.thrust = 0.0f;
+						} else {
+							/* no signal loss, normal throttle */
+							rates_sp.thrust = offboard_sp.p4;
+						}
 //						printf("thrust_rate=%8.4f\n",offboard_sp.p4);
 						rates_sp.timestamp = hrt_absolute_time();
 						orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
@@ -192,7 +198,17 @@ mc_thread_main(int argc, char *argv[])
 						att_sp.roll_body = offboard_sp.p1;
 						att_sp.pitch_body = offboard_sp.p2;
 						att_sp.yaw_body = offboard_sp.p3;
-						att_sp.thrust = offboard_sp.p4;
+
+						/* check if control signal is lost */
+						if (state.offboard_control_signal_lost) {
+							/* set failsafe thrust */
+							param_get(failsafe_throttle_handle, &failsafe_throttle);
+							att_sp.thrust = (failsafe_throttle < 0.6f) : failsafe_throttle ? 0.5f;
+						} else {
+							/* no signal loss, normal throttle */
+							att_sp.thrust = offboard_sp.p4;
+						}
+						
 //						printf("thrust_att=%8.4f\n",offboard_sp.p4);
 						att_sp.timestamp = hrt_absolute_time();
 						/* STEP 2: publish the result to the vehicle actuators */