diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index 5025c3bcb8..80f82914bd 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -130,6 +130,11 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
     }
     in_arm_motors = true;
 
+    // return true if already armed
+    if (motors.armed()) {
+        return true;
+    }
+
     // run pre-arm-checks and display failures
     if (!all_arming_checks_passing(arming_from_gcs)) {
         AP_Notify::events.arming_failed = true;