diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp
index fa175a82e5..8795e83f45 100644
--- a/ArduCopter/compassmot.cpp
+++ b/ArduCopter/compassmot.cpp
@@ -125,6 +125,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
     init_rc_out();
     enable_motor_output();
     motors->armed(true);
+    hal.util->set_soft_armed(true);
 
     // initialise run time
     last_run_time = millis();
@@ -230,6 +231,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
     // stop motors
     motors->output_min();
     motors->armed(false);
+    hal.util->set_soft_armed(false);
 
     // set and save motor compensation
     if (updated) {
diff --git a/ArduCopter/motor_test.cpp b/ArduCopter/motor_test.cpp
index 9c5dc0ba1f..c403852b3c 100644
--- a/ArduCopter/motor_test.cpp
+++ b/ArduCopter/motor_test.cpp
@@ -41,6 +41,7 @@ void Copter::motor_test_output()
                 motor_test_start_ms = now;
                 if (!motors->armed()) {
                     motors->armed(true);
+                    hal.util->set_soft_armed(true);
                 }
             }
             return;
@@ -152,6 +153,7 @@ MAV_RESULT Copter::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t
                 init_rc_out();
                 enable_motor_output();
                 motors->armed(true);
+                hal.util->set_soft_armed(true);
             }
 
             // disable throttle and gps failsafe
@@ -197,6 +199,7 @@ void Copter::motor_test_stop()
 
     // disarm motors
     motors->armed(false);
+    hal.util->set_soft_armed(false);
 
     // reset timeout
     motor_test_start_ms = 0;