diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 913b897004..dc11c8907d 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -375,12 +375,12 @@ bool Copter::Mode::_TakeOff::triggered(const float target_climb_rate) const
 
 void Copter::Mode::zero_throttle_and_relax_ac()
 {
+    motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
 #if FRAME_CONFIG == HELI_FRAME
     // Helicopters always stabilize roll/pitch/yaw
     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
     attitude_control->set_throttle_out(0.0f, false, copter.g.throttle_filt);
 #else
-    motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
     // multicopters do not stabilize roll/pitch/yaw when disarmed
     attitude_control->set_throttle_out_unstabilized(0.0f, true, copter.g.throttle_filt);
 #endif
diff --git a/ArduCopter/mode_acro_heli.cpp b/ArduCopter/mode_acro_heli.cpp
index 69b8282172..94461acf71 100644
--- a/ArduCopter/mode_acro_heli.cpp
+++ b/ArduCopter/mode_acro_heli.cpp
@@ -45,6 +45,8 @@ void Copter::ModeAcro_Heli::run()
         set_land_complete(false);
     }
 
+    motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+
     if (!motors->has_flybar()){
         // convert the input to the desired body frame rate
         get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
diff --git a/ArduCopter/mode_althold.cpp b/ArduCopter/mode_althold.cpp
index c160598675..0bd49de4f5 100644
--- a/ArduCopter/mode_althold.cpp
+++ b/ArduCopter/mode_althold.cpp
@@ -103,19 +103,22 @@ void Copter::ModeAltHold::run()
         break;
 
     case AltHold_Landed:
+
+#if FRAME_CONFIG == HELI_FRAME    
+        // helicopters do not spool down when landed.  Only when commanded to go to ground idle by pilot.
+        motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+
+        if (motors->init_targets_on_arming()) {
+            attitude_control->reset_rate_controller_I_terms();
+            attitude_control->set_yaw_target_to_current_heading();
+        }
+#else
         // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
         if (target_climb_rate < 0.0f) {
             motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         } else {
             motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }
-
-#if FRAME_CONFIG == HELI_FRAME    
-        if (motors->init_targets_on_arming()) {
-            attitude_control->reset_rate_controller_I_terms();
-            attitude_control->set_yaw_target_to_current_heading();
-        }
-#else
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
 #endif
diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
index 977b669be2..c18687714f 100644
--- a/ArduCopter/mode_flowhold.cpp
+++ b/ArduCopter/mode_flowhold.cpp
@@ -334,13 +334,17 @@ void Copter::ModeFlowHold::run()
         break;
 
     case FlowHold_Landed:
+#if FRAME_CONFIG == HELI_FRAME
+        // helicopters do not spool down when landed.  Only when commanded to go to ground idle by pilot.
+        motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+#else
         // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
         if (target_climb_rate < 0.0f) {
             copter.motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         } else {
             copter.motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }
-
+#endif
         copter.attitude_control->reset_rate_controller_I_terms();
         copter.attitude_control->set_yaw_target_to_current_heading();
         copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);
diff --git a/ArduCopter/mode_loiter.cpp b/ArduCopter/mode_loiter.cpp
index b89c3ebc9b..f63c593cd1 100644
--- a/ArduCopter/mode_loiter.cpp
+++ b/ArduCopter/mode_loiter.cpp
@@ -180,12 +180,17 @@ void Copter::ModeLoiter::run()
         break;
 
     case Loiter_Landed:
+#if FRAME_CONFIG == HELI_FRAME
+        // helicopters do not spool down when landed.  Only when commanded to go to ground idle by pilot.
+        motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+#else
         // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
         if (target_climb_rate < 0.0f) {
             motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         } else {
             motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }
+#endif
         loiter_nav->init_target();
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
index b22d020cc6..d5a8d5ead8 100644
--- a/ArduCopter/mode_poshold.cpp
+++ b/ArduCopter/mode_poshold.cpp
@@ -184,12 +184,17 @@ void Copter::ModePosHold::run()
 
     // if landed initialise loiter targets, set throttle to zero and exit
     if (ap.land_complete) {
+#if FRAME_CONFIG == HELI_FRAME
+        // helicopters do not spool down when landed.  Only when commanded to go to ground idle by pilot.
+        motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+#else
         // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
         if (target_climb_rate < 0.0f) {
             motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         } else {
             motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }
+#endif
         loiter_nav->init_target();
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
diff --git a/ArduCopter/mode_sport.cpp b/ArduCopter/mode_sport.cpp
index 77b2ca1aeb..9c95cfcd83 100644
--- a/ArduCopter/mode_sport.cpp
+++ b/ArduCopter/mode_sport.cpp
@@ -130,13 +130,17 @@ void Copter::ModeSport::run()
         break;
 
     case Sport_Landed:
+#if FRAME_CONFIG == HELI_FRAME
+        // helicopters do not spool down when landed.  Only when commanded to go to ground idle by pilot.
+        motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+#else
         // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
         if (target_climb_rate < 0.0f) {
             motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         } else {
             motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }
-
+#endif
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
         attitude_control->input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
diff --git a/ArduCopter/mode_stabilize_heli.cpp b/ArduCopter/mode_stabilize_heli.cpp
index 6e720c83a2..696ad9e3ac 100644
--- a/ArduCopter/mode_stabilize_heli.cpp
+++ b/ArduCopter/mode_stabilize_heli.cpp
@@ -38,6 +38,8 @@ void Copter::ModeStabilize_Heli::run()
         set_land_complete(false);
     }
 
+    motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+
     // apply SIMPLE mode transform to pilot inputs
     update_simple_mode();