diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 825fbeaa68..a249885c21 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -501,6 +501,8 @@ private:
     // governor.  Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart.
     ModeFilterInt16_Size5 rotor_speed_deglitch_filter {4};
 
+    int16_t rsc_control_deglitched;
+
     // Tradheli flags
     struct {
         uint8_t dynamic_flight          : 1;    // 0   // true if we are moving at a significant speed (used to turn on/off leaky I terms)
diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index 6ddee2c534..b2b2a818f3 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -137,24 +137,30 @@ void Copter::heli_update_rotor_speed_targets()
 
     // get rotor control method
     uint8_t rsc_control_mode = motors.get_rsc_mode();
-    int16_t rsc_control_deglitched = rotor_speed_deglitch_filter.apply(g.rc_8.control_in);
 
-    switch (rsc_control_mode) {
-        case AP_MOTORS_HELI_RSC_MODE_NONE:
-            // even though pilot passes rotors speed directly to rotor ESC via receiver, motor lib needs to know if
-            // rotor is spinning in case we are using direct drive tailrotor which must be spun up at same time
-        case AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH:
-            // pass through pilot desired rotor speed
-            motors.set_desired_rotor_speed(rsc_control_deglitched);
-            break;
-        case AP_MOTORS_HELI_RSC_MODE_SETPOINT:
-            // pass setpoint through as desired rotor speed
-            if (rsc_control_deglitched > 0) {
-                motors.set_desired_rotor_speed(motors.get_rsc_setpoint());
-            }else{
-                motors.set_desired_rotor_speed(0);
-            }
-            break;
+    rsc_control_deglitched = rotor_speed_deglitch_filter.apply(g.rc_8.control_in);
+
+    if (motors.armed()) {
+        switch (rsc_control_mode) {
+            case AP_MOTORS_HELI_RSC_MODE_NONE:
+                // even though pilot passes rotors speed directly to rotor ESC via receiver, motor lib needs to know if
+                // rotor is spinning in case we are using direct drive tailrotor which must be spun up at same time
+            case AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH:
+                // pass through pilot desired rotor speed
+                motors.set_desired_rotor_speed(rsc_control_deglitched);
+                break;
+            case AP_MOTORS_HELI_RSC_MODE_SETPOINT:
+                // pass setpoint through as desired rotor speed
+                if (rsc_control_deglitched > 0) {
+                    motors.set_desired_rotor_speed(motors.get_rsc_setpoint());
+                }else{
+                    motors.set_desired_rotor_speed(0);
+                }
+                break;
+        }
+    } else {
+        // if disarmed, force desired_rotor_speed to Zero
+        motors.set_desired_rotor_speed(0);
     }
 
     // when rotor_runup_complete changes to true, log event
diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index 264ae69a4e..99e879c46f 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -702,15 +702,15 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
     }
 
     // always check if rotor is spinning on heli
-    #if FRAME_CONFIG == HELI_FRAME
+#if FRAME_CONFIG == HELI_FRAME
     // heli specific arming check
-    if (!motors.allow_arming()){
+    if ((rsc_control_deglitched > 0) || !motors.allow_arming()){
         if (display_failure) {
             gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Rotor Control Engaged"));
         }
         return false;
     }
-    #endif  // HELI_FRAME
+#endif  // HELI_FRAME
 
     // succeed if arming checks are disabled
     if (g.arming_check == ARMING_CHECK_NONE) {