From ef80634435b5d08ab3bc303de8a1f88e855a0258 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Wed, 10 Jun 2015 18:33:42 -0400
Subject: [PATCH] Copter: auto_armed goes false for Heli when landed and motor
 shut off.

---
 ArduCopter/system.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index c05006bd99..a60ae9f66f 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -369,6 +369,13 @@ void Copter::update_auto_armed()
         if(mode_has_manual_throttle(control_mode) && ap.throttle_zero && !failsafe.radio) {
             set_auto_armed(false);
         }
+#if FRAME_CONFIG == HELI_FRAME 
+        // if helicopters are on the ground, and the motor is switched off, auto-armed should be false
+        // so that rotor runup is checked again before attempting to take-off
+        if(ap.land_complete && !motors.rotor_runup_complete()) {
+            set_auto_armed(false);
+        }
+#endif // HELI_FRAME
     }else{
         // arm checks