diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
index 4f6d28b6fe..469d12e14d 100644
--- a/ArduCopter/Attitude.cpp
+++ b/ArduCopter/Attitude.cpp
@@ -38,7 +38,6 @@ float Copter::get_pilot_desired_yaw_rate(int16_t stick_angle)
 //  called at 100hz
 void Copter::update_throttle_hover()
 {
-#if FRAME_CONFIG != HELI_FRAME
     // if not armed or landed exit
     if (!motors->armed() || ap.land_complete) {
         return;
@@ -57,16 +56,15 @@ void Copter::update_throttle_hover()
     // get throttle output
     float throttle = motors->get_throttle();
 
-    // calc average throttle if we are in a level hover
+    // calc average throttle if we are in a level hover.  accounts for heli hover roll trim
     if (throttle > 0.0f && fabsf(inertial_nav.get_velocity_z()) < 60 &&
-        labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) {
+        labs(ahrs.roll_sensor-attitude_control->get_roll_trim_cd()) < 500 && labs(ahrs.pitch_sensor) < 500) {
         // Can we set the time constant automatically
         motors->update_throttle_hover(0.01f);
 #if HAL_GYROFFT_ENABLED
         gyro_fft.update_freq_hover(0.01f, motors->get_throttle_out());
 #endif
     }
-#endif
 }
 
 // get_pilot_desired_climb_rate - transform pilot's throttle input to climb rate in cm/s
diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index 96deff075e..d58830b9d2 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -74,7 +74,14 @@ void Copter::check_dynamic_flight(void)
 void Copter::update_heli_control_dynamics(void)
 {
     // Use Leaky_I if we are not moving fast
-    attitude_control->use_leaky_i(!heli_flags.dynamic_flight);
+//    attitude_control->use_leaky_i(!heli_flags.dynamic_flight);
+    attitude_control->use_leaky_i(false);
+
+    if (ap.land_complete || ap.land_complete_maybe) {
+        motors->set_land_complete(true);
+    } else {
+        motors->set_land_complete(false);
+    }
 
     if (ap.land_complete || (is_zero(motors->get_desired_rotor_speed()))){
         // if we are landed or there is no rotor power demanded, decrement slew scalar
diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp
index 6b5f4ebc7c..7eee533cdf 100644
--- a/ArduCopter/land_detector.cpp
+++ b/ArduCopter/land_detector.cpp
@@ -47,7 +47,7 @@ void Copter::update_land_detector()
     } else if (ap.land_complete) {
 #if FRAME_CONFIG == HELI_FRAME
         // if rotor speed and collective pitch are high then clear landing flag
-        if (motors->get_throttle() > get_non_takeoff_throttle() && !motors->limit.throttle_lower && motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
+        if (motors->get_takeoff_collective() && motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
 #else
         // if throttle output is high then clear landing flag
         if (motors->get_throttle() > get_non_takeoff_throttle()) {
diff --git a/ArduCopter/mode_acro_heli.cpp b/ArduCopter/mode_acro_heli.cpp
index 76feaf7d1c..cdce222fb9 100644
--- a/ArduCopter/mode_acro_heli.cpp
+++ b/ArduCopter/mode_acro_heli.cpp
@@ -49,16 +49,16 @@ void ModeAcro_Heli::run()
         attitude_control->reset_rate_controller_I_terms();
         break;
     case AP_Motors::SpoolState::GROUND_IDLE:
-        // Landed
-        if (motors->init_targets_on_arming()) {
+        // If aircraft is landed, set target heading to current and reset the integrator
+        // Otherwise motors could be at ground idle for practice autorotation
+        if (copter.ap.land_complete) {
             attitude_control->set_attitude_target_to_current_attitude();
             attitude_control->reset_rate_controller_I_terms();
         }
         break;
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
-        // clear landing flag above zero throttle
-        if (!motors->limit.throttle_lower) {
-            set_land_complete(false);
+        if (copter.ap.land_complete) {
+            attitude_control->reset_rate_controller_I_terms();
         }
         break;
     case AP_Motors::SpoolState::SPOOLING_UP:
diff --git a/ArduCopter/mode_stabilize_heli.cpp b/ArduCopter/mode_stabilize_heli.cpp
index 93029ea346..247d2df67c 100644
--- a/ArduCopter/mode_stabilize_heli.cpp
+++ b/ArduCopter/mode_stabilize_heli.cpp
@@ -54,16 +54,16 @@ void ModeStabilize_Heli::run()
         attitude_control->reset_rate_controller_I_terms();
         break;
     case AP_Motors::SpoolState::GROUND_IDLE:
-        // Landed
-        if (motors->init_targets_on_arming()) {
+        // If aircraft is landed, set target heading to current and reset the integrator
+        // Otherwise motors could be at ground idle for practice autorotation
+        if (copter.ap.land_complete) {
             attitude_control->set_yaw_target_to_current_heading();
             attitude_control->reset_rate_controller_I_terms();
         }
         break;
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
-        // clear landing flag above zero throttle
-        if (!motors->limit.throttle_lower) {
-            set_land_complete(false);
+        if (copter.ap.land_complete) {
+            attitude_control->reset_rate_controller_I_terms();
         }
         break;
     case AP_Motors::SpoolState::SPOOLING_UP: