diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 2ec569a5c6..552f85a1f4 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -68,7 +68,7 @@ static void arm_motors_check()
         }
 
         // arm the motors and configure for flight
-        if (arming_counter == AUTO_TRIM_DELAY && motors.armed()) {
+        if (arming_counter == AUTO_TRIM_DELAY && motors.armed() && control_mode == STABILIZE) {
             auto_trim_counter = 250;
         }