diff --git a/ArduCopter/land_detector.pde b/ArduCopter/land_detector.pde
index 20544864a6..8a70ca9b67 100644
--- a/ArduCopter/land_detector.pde
+++ b/ArduCopter/land_detector.pde
@@ -13,13 +13,23 @@ static bool land_complete_maybe()
 // called at 50hz
 static void update_land_detector()
 {
-    bool climb_rate_low = (abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX);
-    bool target_climb_rate_low = !pos_control.is_active_z() || (pos_control.get_desired_velocity().z <= LAND_DETECTOR_DESIRED_CLIMBRATE_MAX);
-    bool motor_at_lower_limit = motors.limit.throttle_lower;
-    bool throttle_low = (FRAME_CONFIG == HELI_FRAME) || (motors.get_throttle_out() < get_non_takeoff_throttle());
-    bool not_rotating_fast = (ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX);
+    // land detector can not use the following sensors because they are unreliable during landing
+    // barometer altitude :                 ground effect can cause errors larger than 4m
+    // EKF vertical velocity or altitude :  poor barometer and large acceleration from ground impact
+    // earth frame angle or angle error :   landing on an uneven surface will force the airframe to match the ground angle
+    // gyro output :                        on uneven surface the airframe may rock back an forth after landing
+    // range finder :                       tend to be problematic at very short distances
+    // input throttle :                     in slow land the input throttle may be only slightly less than hover
 
-    if (climb_rate_low && target_climb_rate_low && motor_at_lower_limit && throttle_low && not_rotating_fast) {
+    // check that the average throttle output is near minimum (less than 12.5% hover throttle)
+    bool motor_at_lower_limit = motors.limit.throttle_lower && (motors.get_throttle_low_comp() < 0.125f);
+    Vector3f accel_ef = ahrs.get_accel_ef_blended();
+    accel_ef.z += GRAVITY_MSS;
+
+    // check that the airframe is not accelerating (not falling or breaking after fast forward flight)
+    bool accel_stationary = (accel_ef.length() < 1.0f);
+
+    if ( motor_at_lower_limit && accel_stationary) {
         if (!ap.land_complete) {
             // increase counter until we hit the trigger then set land complete flag
             if( land_detector < LAND_DETECTOR_TRIGGER) {
@@ -47,8 +57,8 @@ static void update_land_detector()
 //  has no effect when throttle is above hover throttle
 static void update_throttle_low_comp()
 {
-    // manual throttle
     if (mode_has_manual_throttle(control_mode)) {
+        // manual throttle
         if(!motors.armed() || g.rc_3.control_in <= 0) {
             motors.set_throttle_low_comp(0.1f);
         } else {
@@ -56,8 +66,21 @@ static void update_throttle_low_comp()
         }
     } else {
         // autopilot controlled throttle
+
+        // check for aggressive flight requests
         const Vector3f angle_target = attitude_control.angle_ef_targets();
-        if (pythagorous2(angle_target.x, angle_target.y) > 1500.0f) {
+        bool large_angle_request = (pythagorous2(angle_target.x, angle_target.y) > 1500.0f);
+
+        // check for large external disturbance
+        const Vector3f angle_error = attitude_control.angle_bf_error();
+        bool large_angle_error = (pythagorous2(angle_error.x, angle_error.y) > 3000.0f);
+
+        // check for large acceleration ( falling )
+        Vector3f accel_ef = ahrs.get_accel_ef_blended();
+        accel_ef.z += GRAVITY_MSS;
+        bool accel_moving = (accel_ef.length() > 3.0f);
+
+        if ( large_angle_request || large_angle_error || accel_moving) {
             // if target lean angle is over 15 degrees set high
             motors.set_throttle_low_comp(0.9f);
         } else {