diff --git a/ArduCopter/control_althold.pde b/ArduCopter/control_althold.pde
index c78975d747..a1e388a49c 100644
--- a/ArduCopter/control_althold.pde
+++ b/ArduCopter/control_althold.pde
@@ -26,8 +26,8 @@ static void althold_run()
     float target_climb_rate;
     float takeoff_climb_rate = 0.0f;
 
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed) {
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || !motors.get_interlock()) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(g.rc_3.control_in)-throttle_average);
         return;
diff --git a/ArduCopter/control_auto.pde b/ArduCopter/control_auto.pde
index 182ddd47ea..23bf030dde 100644
--- a/ArduCopter/control_auto.pde
+++ b/ArduCopter/control_auto.pde
@@ -109,8 +109,8 @@ static void auto_takeoff_start(float final_alt_above_home)
 //      called by auto_run at 100hz or more
 static void auto_takeoff_run()
 {
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed) {
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || !motors.get_interlock()) {
         // initialise wpnav targets
         wp_nav.shift_wp_origin_to_current_pos();
         // reset attitude control targets
@@ -156,8 +156,8 @@ static void auto_wp_start(const Vector3f& destination)
 //      called by auto_run at 100hz or more
 static void auto_wp_run()
 {
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed) {
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || !motors.get_interlock()) {
         // To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
         //    (of course it would be better if people just used take-off)
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@@ -212,8 +212,8 @@ static void auto_spline_start(const Vector3f& destination, bool stopped_at_start
 //      called by auto_run at 100hz or more
 static void auto_spline_run()
 {
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed) {
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || !motors.get_interlock()) {
         // To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
         //    (of course it would be better if people just used take-off)
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@@ -281,7 +281,7 @@ static void auto_land_run()
     int16_t roll_control = 0, pitch_control = 0;
     float target_yaw_rate = 0;
 
-    // if not auto armed set throttle to zero and exit immediately
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
     if(!ap.auto_armed || ap.land_complete) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         // set target to current position
@@ -447,8 +447,8 @@ bool auto_loiter_start()
 //      called by auto_run at 100hz or more
 void auto_loiter_run()
 {
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed || ap.land_complete) {
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         return;
     }
diff --git a/ArduCopter/control_autotune.pde b/ArduCopter/control_autotune.pde
index 46e7067562..722fc36a04 100644
--- a/ArduCopter/control_autotune.pde
+++ b/ArduCopter/control_autotune.pde
@@ -260,9 +260,9 @@ static void autotune_run()
     float target_yaw_rate;
     int16_t target_climb_rate;
 
-    // if not auto armed set throttle to zero and exit immediately
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
     // this should not actually be possible because of the autotune_init() checks
-    if (!ap.auto_armed) {
+    if (!ap.auto_armed || !motors.get_interlock()) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(g.rc_3.control_in)-throttle_average);
         return;
diff --git a/ArduCopter/control_circle.pde b/ArduCopter/control_circle.pde
index 7fb31e4d6b..34acc19e07 100644
--- a/ArduCopter/control_circle.pde
+++ b/ArduCopter/control_circle.pde
@@ -32,8 +32,8 @@ static void circle_run()
     float target_yaw_rate = 0;
     float target_climb_rate = 0;
 
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed || ap.land_complete) {
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
         // To-Do: add some initialisation of position controllers
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         pos_control.set_alt_target_to_current_alt();
diff --git a/ArduCopter/control_drift.pde b/ArduCopter/control_drift.pde
index 9e127cf686..fc3d85ed1f 100644
--- a/ArduCopter/control_drift.pde
+++ b/ArduCopter/control_drift.pde
@@ -46,8 +46,8 @@ static void drift_run()
     float target_yaw_rate;
     int16_t pilot_throttle_scaled;
 
-    // if not armed or landed and throttle at zero, set throttle to zero and exit immediately
-    if(!motors.armed() || (ap.land_complete && ap.throttle_zero)) {
+    // if not armed or motor interlock not enabled or landed and throttle at zero, set throttle to zero and exit immediately
+    if(!motors.armed() || !motors.get_interlock() || (ap.land_complete && ap.throttle_zero)) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         return;
     }
diff --git a/ArduCopter/control_guided.pde b/ArduCopter/control_guided.pde
index 0804542b85..fa1f7c295a 100644
--- a/ArduCopter/control_guided.pde
+++ b/ArduCopter/control_guided.pde
@@ -158,8 +158,8 @@ static void guided_set_destination_posvel(const Vector3f& destination, const Vec
 // should be called at 100hz or more
 static void guided_run()
 {
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed) {
+    // if not auto armed or motors not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || !motors.get_interlock()) {
         // To-Do: reset waypoint controller?
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         // To-Do: handle take-offs - these may not only be immediately after auto_armed becomes true
@@ -195,8 +195,8 @@ static void guided_run()
 //      called by guided_run at 100hz or more
 static void guided_takeoff_run()
 {
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed) {
+    // if not auto armed or motors interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || !motors.get_interlock()) {
         // initialise wpnav targets
         wp_nav.shift_wp_origin_to_current_pos();
         // reset attitude control targets
diff --git a/ArduCopter/control_land.pde b/ArduCopter/control_land.pde
index eca5b8a5bb..774846a2a1 100644
--- a/ArduCopter/control_land.pde
+++ b/ArduCopter/control_land.pde
@@ -50,8 +50,8 @@ static void land_gps_run()
     int16_t roll_control = 0, pitch_control = 0;
     float target_yaw_rate = 0;
 
-    // if not auto armed or landed set throttle to zero and exit immediately
-    if(!ap.auto_armed || ap.land_complete) {
+    // if not auto armed or landed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         wp_nav.init_loiter_target();
 
@@ -123,8 +123,8 @@ static void land_nogps_run()
     float target_roll = 0.0f, target_pitch = 0.0f;
     float target_yaw_rate = 0;
 
-    // if not auto armed or landed set throttle to zero and exit immediately
-    if(!ap.auto_armed || ap.land_complete) {
+    // if not auto armed or landed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
         // disarm when the landing detector says we've landed and throttle is at minimum
diff --git a/ArduCopter/control_loiter.pde b/ArduCopter/control_loiter.pde
index 13d7a69773..dd26ae07ec 100644
--- a/ArduCopter/control_loiter.pde
+++ b/ArduCopter/control_loiter.pde
@@ -33,8 +33,8 @@ static void loiter_run()
     float target_climb_rate = 0;
     float takeoff_climb_rate = 0.0f;
 
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed) {
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || !motors.get_interlock()) {
         wp_nav.init_loiter_target();
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(g.rc_3.control_in)-throttle_average);
diff --git a/ArduCopter/control_poshold.pde b/ArduCopter/control_poshold.pde
index 321d37f512..5f6c81a74e 100644
--- a/ArduCopter/control_poshold.pde
+++ b/ArduCopter/control_poshold.pde
@@ -154,8 +154,8 @@ static void poshold_run()
     float vel_fw, vel_right;            // vehicle's current velocity in body-frame forward and right directions
     const Vector3f& vel = inertial_nav.get_velocity();
 
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed) {
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || !motors.get_interlock()) {
         wp_nav.init_loiter_target();
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(g.rc_3.control_in)-throttle_average);
diff --git a/ArduCopter/control_rtl.pde b/ArduCopter/control_rtl.pde
index 258f7e70e3..a082ae5923 100644
--- a/ArduCopter/control_rtl.pde
+++ b/ArduCopter/control_rtl.pde
@@ -131,8 +131,8 @@ static void rtl_return_start()
 //      called by rtl_run at 100hz or more
 static void rtl_climb_return_run()
 {
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed) {
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || !motors.get_interlock()) {
         // reset attitude control targets
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         // To-Do: re-initialise wpnav targets
@@ -187,8 +187,8 @@ static void rtl_loiterathome_start()
 //      called by rtl_run at 100hz or more
 static void rtl_loiterathome_run()
 {
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed) {
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || !motors.get_interlock()) {
         // reset attitude control targets
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         // To-Do: re-initialise wpnav targets
@@ -257,8 +257,8 @@ static void rtl_descent_run()
     int16_t roll_control = 0, pitch_control = 0;
     float target_yaw_rate = 0;
 
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed) {
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || !motors.get_interlock()) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         // set target to current position
         wp_nav.init_loiter_target();
@@ -319,8 +319,8 @@ static void rtl_land_run()
 {
     int16_t roll_control = 0, pitch_control = 0;
     float target_yaw_rate = 0;
-    // if not auto armed set throttle to zero and exit immediately
-    if(!ap.auto_armed || ap.land_complete) {
+    // if not auto armed or landing completed or motor interlock not enabled set throttle to zero and exit immediately
+    if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         // set target to current position
         wp_nav.init_loiter_target();