diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index f254496e97..9daec2cbe4 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -5,7 +5,7 @@
 #if FRAME_CONFIG == HELI_FRAME
 
 #ifndef HELI_DYNAMIC_FLIGHT_SPEED_MIN
- #define HELI_DYNAMIC_FLIGHT_SPEED_MIN      500     // we are in "dynamic flight" when the speed is over 5m/s for 2 seconds
+ #define HELI_DYNAMIC_FLIGHT_SPEED_MIN      250     // we are in "dynamic flight" when the speed is over 2.5m/s for 2 seconds
 #endif
 
 // counter to control dynamic flight profile
diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp
index 644ee52932..ed6a0c76bc 100644
--- a/ArduCopter/land_detector.cpp
+++ b/ArduCopter/land_detector.cpp
@@ -61,8 +61,11 @@ void Copter::update_land_detector()
     } else {
 
 #if FRAME_CONFIG == HELI_FRAME
-        // check that collective pitch is below mid collective (zero thrust) position
-        bool motor_at_lower_limit = (motors->get_below_mid_collective() && fabsf(ahrs.get_roll()) < M_PI/2.0f);
+        // check for both manual collective modes and modes that use altitude hold. For manual collective (called throttle 
+        // because multi's use throttle), check that collective pitch is below mid collective (zero thrust) position.  For modes 
+        // that use altitude hold, check that the pilot is commanding a descent and collective is at min allowed for altitude hold modes.
+        bool motor_at_lower_limit = ((flightmode->has_manual_throttle() && motors->get_below_mid_collective() && fabsf(ahrs.get_roll()) < M_PI/2.0f) 
+                                    || (motors->limit.throttle_lower && pos_control->get_vel_desired_cms().z < 0.0f));
 #else
         // check that the average throttle output is near minimum (less than 12.5% hover throttle)
         bool motor_at_lower_limit = motors->limit.throttle_lower && attitude_control->is_throttle_mix_min();