diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 07bf77ea94..ce3aeb9dd0 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -3812,6 +3812,22 @@ function'''
 
         self.fly_home_land_and_disarm(timeout=180)
 
+    def MidAirDisarmDisallowed(self):
+        self.takeoff(50)
+        disarmed = False
+        try:
+            self.disarm_vehicle()
+            disarmed = True
+        except ValueError as e:
+            self.progress("Got %s" % repr(e))
+            if "Expected MAV_RESULT_ACCEPTED got MAV_RESULT_FAILED" not in str(e):
+                raise e
+        if disarmed:
+            raise NotAchievedException("Disarmed when we shouldn't have")
+        # should still be able to force-disarm:
+        self.disarm_vehicle(force=True)
+        self.reboot_sitl()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -4090,6 +4106,11 @@ function'''
             ("HIGH_LATENCY2",
              "Set sending of HIGH_LATENCY2",
              self.HIGH_LATENCY2),
+
+            ("MidAirDisarmDisallowed",
+             "Ensure mid-air disarm is not possible",
+             self.MidAirDisarmDisallowed),
+
         ])
         return ret
 
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 3c8cd87bdc..40becfeb70 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -338,10 +338,10 @@ class AutoTestQuadPlane(AutoTest):
                              (self.landed_state_name(landed_state),
                               self.landed_state_name(m.landed_state)))
 
-    def wait_extended_sys_state(self, vtol_state, landed_state):
+    def wait_extended_sys_state(self, vtol_state, landed_state, timeout=10):
         tstart = self.get_sim_time()
         while True:
-            if self.get_sim_time() - tstart > 10:
+            if self.get_sim_time() - tstart > timeout:
                 raise NotAchievedException("Did not achieve vol/landed states")
             self.progress("Waiting for MAV_VTOL_STATE=%s MAV_LANDED_STATE=%s" %
                           (self.vtol_state_name(vtol_state),
@@ -867,6 +867,57 @@ class AutoTestQuadPlane(AutoTest):
         self.change_mode('AUTO')
         self.wait_disarmed(timeout=300)
 
+    def MidAirDisarmDisallowed(self):
+        self.start_subtest("Basic arm in qloiter")
+        self.set_parameter("FLIGHT_OPTIONS", 0)
+        self.change_mode('QLOITER')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.disarm_vehicle()
+
+        self.context_push()
+        self.start_subtest("Ensure disarming in q-modes on ground works")
+        self.set_parameter("FLIGHT_OPTIONS", 1 << 11)
+        self.arm_vehicle()
+        self.disarm_vehicle()  # should be OK as we're not flying yet
+        self.context_pop()
+
+        self.start_subtest("Ensure no disarming mid-air")
+        self.arm_vehicle()
+        self.set_rc(3, 2000)
+        self.wait_altitude(5, 50, relative=True)
+        self.set_rc(3, 1000)
+        disarmed = False
+        try:
+            self.disarm_vehicle()
+            disarmed = True
+        except ValueError as e:
+            self.progress("Got %s" % repr(e))
+            if "Expected MAV_RESULT_ACCEPTED got MAV_RESULT_FAILED" not in str(e):
+                raise e
+        if disarmed:
+            raise NotAchievedException("Disarmed when we shouldn't have")
+
+        self.change_mode('QLAND')
+        self.wait_disarmed()
+
+        self.start_subtest("Check we can disarm after a short period on the ground")
+        self.takeoff(5, 'QHOVER')
+        self.change_mode('QLAND')
+        try:
+            self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_EXTENDED_SYS_STATE, 10)
+            self.wait_extended_sys_state(
+                landed_state=mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
+                vtol_state=mavutil.mavlink.MAV_VTOL_STATE_MC,
+                timeout=60
+            )
+        except Exception:
+            self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_EXTENDED_SYS_STATE, 0)
+            raise
+
+        self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_EXTENDED_SYS_STATE, -1)
+        self.disarm_vehicle()
+
     def tests(self):
         '''return list of all tests'''
 
@@ -923,6 +974,10 @@ class AutoTestQuadPlane(AutoTest):
              "Test ICE Engine Mission support",
              self.ICEngineMission),
 
+            ("MidAirDisarmDisallowed",
+             "Check disarm behaviour in Q-mode",
+             self.MidAirDisarmDisallowed),
+
             ("LogUpload",
              "Log upload",
              self.log_upload),