diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 5fb143bf3b..ccc972d68b 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -97,8 +97,8 @@ const AP_Param::Info Copter::var_info[] = {
     // @DisplayName: Throttle stick behavior
     // @Description: Bitmask containing various throttle stick options. Add up the values for options that you want.
     // @User: Standard
-    // @Values: 0:None,1:Feedback from mid stick,2:High throttle cancels landing
-    // @Bitmask: 0:Feedback from mid stick,1:High throttle cancels landing
+    // @Values: 0:None,1:Feedback from mid stick,2:High throttle cancels landing,4:Disarm on land detection
+    // @Bitmask: 0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection
     GSCALAR(throttle_behavior, "PILOT_THR_BHV", 0),
 
     // @Group: SERIAL
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 2d460b0a2a..421220fa79 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -461,3 +461,4 @@ enum ThrowModeState {
 // for PILOT_THR_BHV parameter
 #define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
 #define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
+#define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)
diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp
index 8f7dd2461f..5164e1b026 100644
--- a/ArduCopter/land_detector.cpp
+++ b/ArduCopter/land_detector.cpp
@@ -93,6 +93,13 @@ void Copter::set_land_complete(bool b)
         Log_Write_Event(DATA_NOT_LANDED);
     }
     ap.land_complete = b;
+
+    bool disarm_on_land_configured = (g.throttle_behavior & THR_BEHAVE_DISARM_ON_LAND_DETECT) != 0;
+    bool mode_disarms_on_land = mode_allows_arming(control_mode,false) && !mode_has_manual_throttle(control_mode);
+
+    if (ap.land_complete && motors.armed() && disarm_on_land_configured && mode_disarms_on_land) {
+        init_disarm_motors();
+    }
 }
 
 // set land complete maybe flag