For some AUTO missions, failsafe needs to be disabled. When the mission prohibits heading towards home from any point (could hit a mountain) or is expected to fly beyond reliable control range. Even momentary RTL can be disruptive for aerial photo mission.
If failsafe is completely disabled, then we lose a good safety feature before and after the autonomous mission.
if MODE=AUTO and FS_AUTO = "1" - then let failsafe condition use setting in FS_SHORT_ACTN or FS_LONG_ACTN
if MODE=AUTO and FS_AUTO = "0" - then resume mission and inhibit use of failsafe actions
I added it to: http://code.google.com/p/ardupilot-mega/issues/detail?id=923