diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index d0fa6b9a58..8ea6b5df9f 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -303,7 +303,10 @@ void Copter::motors_output()
     // OBC rules
     if (g2.afs.should_crash_vehicle()) {
         g2.afs.terminate_vehicle();
-        return;
+        if (!g2.afs.terminating_vehicle_via_landing()) {
+            return;
+        }
+        // landing must continue to run the motors output
     }
 #endif
 
diff --git a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
index 38ec229902..b7ba803ad1 100644
--- a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
+++ b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
@@ -83,7 +83,11 @@ public:
 
     // for holding parameters
     static const struct AP_Param::GroupInfo var_info[];
-        
+
+    bool terminating_vehicle_via_landing() const {
+        return _terminate_action == TERMINATE_ACTION_LAND;
+    };
+
 protected:
     // setup failsafe values for if FMU firmware stops running
     virtual void setup_IO_failsafe(void) = 0;