From a6d2e0d4dfb775488f1a0e2ad59ebc4c14073c03 Mon Sep 17 00:00:00 2001
From: Fredrik Hedberg <fredrik.hedberg@gmail.com>
Date: Fri, 6 Nov 2015 23:36:56 +0100
Subject: [PATCH] Copter: Don't auto-disarm helicopters if rotor is still
 spinning.

---
 ArduCopter/motors.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index 03a40fe4b1..ed41f1b070 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -82,6 +82,14 @@ void Copter::auto_disarm_check()
         return;
     }
 
+#if FRAME_CONFIG == HELI_FRAME
+    // if the rotor is still spinning, don't initiate auto disarm
+    if (motors.rotor_speed_above_critical()) {
+        auto_disarming_counter = 0;
+        return;
+    }
+#endif
+
     // always allow auto disarm if using interlock switch or motors are Emergency Stopped
     if ((ap.using_interlock && !motors.get_interlock()) || ap.motor_emergency_stop) {
 #if FRAME_CONFIG != HELI_FRAME