diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index e6b26aff18..1f60c1635d 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -447,6 +447,12 @@
 #ifndef LAND_DETECTOR_TRIGGER
  # define LAND_DETECTOR_TRIGGER 50    // number of 50hz iterations with near zero climb rate and low throttle that triggers landing complete.
 #endif
+#ifndef LAND_DETECTOR_CLIMBRATE_MAX
+# define LAND_DETECTOR_CLIMBRATE_MAX    30  // vehicle climb rate must be between -30 and +30 cm/s
+#endif
+#ifndef LAND_DETECTOR_ROTATION_MAX
+ # define LAND_DETECTOR_ROTATION_MAX    0.50f   // vehicle rotation must be below 0.5 rad/sec (=30deg/sec for) vehicle to consider itself landed
+#endif
 #ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM // require pilot to reduce throttle to minimum before vehicle will disarm
  # define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM ENABLED
 #endif
diff --git a/ArduCopter/control_land.pde b/ArduCopter/control_land.pde
index 45d29e4f92..2b599549e8 100644
--- a/ArduCopter/control_land.pde
+++ b/ArduCopter/control_land.pde
@@ -191,8 +191,9 @@ static float get_throttle_land()
 // called at 50hz
 static void update_land_detector()
 {
-    // detect whether we have landed by watching for low climb rate and minimum throttle
-    if (abs(climb_rate) < 40 && motors.limit.throttle_lower) {
+    // detect whether we have landed by watching for low climb rate, motors hitting their lower limit, overall low throttle and low rotation rate
+    if ((abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX) && motors.limit.throttle_lower &&
+        (motors.get_throttle_out() < get_non_takeoff_throttle()) && (ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX)) {
         if (!ap.land_complete) {
             // increase counter until we hit the trigger then set land complete flag
             if( land_detector < LAND_DETECTOR_TRIGGER) {