diff --git a/ArduCopter/control_circle.cpp b/ArduCopter/control_circle.cpp
index e9d8c3954c..ec9fa97204 100644
--- a/ArduCopter/control_circle.cpp
+++ b/ArduCopter/control_circle.cpp
@@ -42,13 +42,15 @@ void Copter::circle_run()
     pos_control.set_accel_z(g.pilot_accel_z);
     
     // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
-    if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
+    if (!motors.armed() || !ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
         // To-Do: add some initialisation of position controllers
 #if FRAME_CONFIG == HELI_FRAME  // Helicopters always stabilize roll/pitch/yaw
         // call attitude controller
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
+#else
+        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
+        // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
         pos_control.set_alt_target_to_current_alt();
@@ -75,6 +77,9 @@ void Copter::circle_run()
         }
     }
 
+    // set motors to full range
+    motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
+
     // run circle controller
     circle_nav.update();