diff --git a/ArduCopter/motor_test.cpp b/ArduCopter/motor_test.cpp
index 6efd17d41f..5c5deae899 100644
--- a/ArduCopter/motor_test.cpp
+++ b/ArduCopter/motor_test.cpp
@@ -101,6 +101,13 @@ bool Copter::mavlink_motor_control_check(const GCS_MAVLINK &gcs_chan, bool check
         return false;
     }
 
+    // Check Motor test is allowed
+    char failure_msg[50] {};
+    if (!motors->motor_test_checks(ARRAY_SIZE(failure_msg), failure_msg)) {
+        gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"%s: %s", mode, failure_msg);
+        return false;
+    }
+
     // check rc has been calibrated
     if (check_rc && !arming.rc_calibration_checks(true)) {
         gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"%s: RC not calibrated", mode);