diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 3f80957ea8..0149c1ee0c 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1571,7 +1571,7 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
     bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && (air_mode == AirMode::ON);
     if (!manual_air_mode &&
         plane.get_throttle_input() <= 0 && !plane.control_mode->does_auto_throttle() &&
-        plane.arming.get_rudder_arming_type() != AP_Arming::RudderArming::IS_DISABLED) {
+        plane.arming.get_rudder_arming_type() != AP_Arming::RudderArming::IS_DISABLED && !(inertial_nav.get_velocity_z() < -0.5 * get_pilot_velocity_z_max_dn())) {
         // the user may be trying to disarm
         return 0;
     }
@@ -1604,13 +1604,12 @@ float QuadPlane::get_desired_yaw_rate_cds(void)
         yaw_cds += desired_auto_yaw_rate_cds();
     }
     bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && (air_mode == AirMode::ON);
-    if (plane.get_throttle_input() <= 0 && !plane.control_mode->does_auto_throttle() && !manual_air_mode) {
+    if (plane.get_throttle_input() <= 0 && !plane.control_mode->does_auto_throttle() && !manual_air_mode && !(inertial_nav.get_velocity_z() < -0.5 * get_pilot_velocity_z_max_dn())) {
         // the user may be trying to disarm
         return 0;
     }
     // add in pilot input
     yaw_cds += get_pilot_input_yaw_rate_cds();
-
     // add in weathervaning
     yaw_cds += get_weathervane_yaw_rate_cds();