diff --git a/ArduCopter/control_brake.pde b/ArduCopter/control_brake.pde
index b28250f909..0291a04998 100644
--- a/ArduCopter/control_brake.pde
+++ b/ArduCopter/control_brake.pde
@@ -43,13 +43,14 @@ static void brake_run()
         return;
     }
 
-    if (ap.land_complete) {
-        // ToDo: What do we do if we are landed?  Disarm?)
-    }
-
     // relax stop target if we might be landed
     if (land_complete_maybe()) {
-        // ToDo: What do we do here?
+        wp_nav.loiter_soften_for_landing();
+    }
+
+    // if landed immediately disarm
+    if (ap.land_complete) {
+        init_disarm_motors();
     }
 
     // run brake controller