From dd9f271d43a361df959f1c7b4d68925c9b75bc50 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sun, 17 May 2015 14:28:55 +0900
Subject: [PATCH] Copter: brake disarms if landed

---
 ArduCopter/control_brake.pde | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/control_brake.pde b/ArduCopter/control_brake.pde
index b28250f909..0291a04998 100644
--- a/ArduCopter/control_brake.pde
+++ b/ArduCopter/control_brake.pde
@@ -43,13 +43,14 @@ static void brake_run()
         return;
     }
 
-    if (ap.land_complete) {
-        // ToDo: What do we do if we are landed?  Disarm?)
-    }
-
     // relax stop target if we might be landed
     if (land_complete_maybe()) {
-        // ToDo: What do we do here?
+        wp_nav.loiter_soften_for_landing();
+    }
+
+    // if landed immediately disarm
+    if (ap.land_complete) {
+        init_disarm_motors();
     }
 
     // run brake controller