diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index ffc715c033..63828b0c07 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1172,13 +1172,15 @@ float QuadPlane::landing_descent_rate_cms(float height_above_ground)
  */
 float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
 {
+    const auto rudder_in = plane.channel_rudder->get_control_in();
     bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && air_mode_active();
     if (!manual_air_mode &&
         !is_positive(plane.get_throttle_input()) &&
         (!plane.control_mode->does_auto_throttle() || motors->limit.throttle_lower) &&
-        plane.arming.get_rudder_arming_type() != AP_Arming::RudderArming::IS_DISABLED &&
+        plane.arming.get_rudder_arming_type() == AP_Arming::RudderArming::ARMDISARM &&
+        rudder_in < 0 &&
         fabsf(inertial_nav.get_velocity_z_up_cms()) < 0.5 * get_pilot_velocity_z_max_dn()) {
-        // the user may be trying to disarm
+        // the user may be trying to disarm, disable pilot yaw control
         return 0;
     }
 
@@ -1204,7 +1206,7 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
         // must have a non-zero max yaw rate for scaling to work
         max_rate = (yaw_rate_max < 1.0f) ? 1 : yaw_rate_max;
     }
-    return plane.channel_rudder->get_control_in() * max_rate / 45;
+    return rudder_in * max_rate * (1/45.0);
 }
 
 /*
@@ -1217,11 +1219,7 @@ float QuadPlane::get_desired_yaw_rate_cds(bool should_weathervane)
         // use bank angle to get desired yaw rate
         yaw_cds += desired_auto_yaw_rate_cds();
     }
-    bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && air_mode_active();
-    if (!is_positive(plane.get_throttle_input()) && !plane.control_mode->does_auto_throttle() && !manual_air_mode && !(inertial_nav.get_velocity_z_up_cms() < -0.5 * get_pilot_velocity_z_max_dn())) {
-        // the user may be trying to disarm
-        return 0;
-    }
+
     // add in pilot input
     yaw_cds += get_pilot_input_yaw_rate_cds();