diff --git a/msg/actuator_armed.msg b/msg/actuator_armed.msg
index 4a3482afe4..7a33dccad1 100644
--- a/msg/actuator_armed.msg
+++ b/msg/actuator_armed.msg
@@ -6,3 +6,4 @@ bool lockdown		# Set to true if actuators are forced to being disabled (due to e
 bool manual_lockdown    # Set to true if manual throttle kill switch is engaged
 bool force_failsafe	# Set to true if the actuators are forced to the failsafe position
 bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics
+bool soft_stop # Set to true if we need to ESCs to remove the idle constraint
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 9daffe2f06..cedad28d2b 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2103,6 +2103,8 @@ int commander_thread_main(int argc, char *argv[])
 				status.in_transition_to_fw = vtol_status.in_transition_to_fw;
 				status_flags.vtol_transition_failure = vtol_status.vtol_transition_failsafe;
 				status_flags.vtol_transition_failure_cmd = vtol_status.vtol_transition_failsafe;
+
+				armed.soft_stop = !status.is_rotary_wing;
 			}
 
 			status_changed = true;
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index e6bbc0d078..d6fb8739cf 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -647,9 +647,8 @@ int UavcanNode::init(uavcan::NodeID node_id)
 	}
 
 	{
-		std::int32_t idle_throttle_when_armed = 0;
-		(void) param_get(param_find("UAVCAN_ESC_IDLT"), &idle_throttle_when_armed);
-		_esc_controller.enable_idle_throttle_when_armed(idle_throttle_when_armed > 0);
+		(void) param_get(param_find("UAVCAN_ESC_IDLT"), &_idle_throttle_when_armed);
+		_esc_controller.enable_idle_throttle_when_armed(_idle_throttle_when_armed > 0);
 	}
 
 	ret = _hardpoint_controller.init();
@@ -970,6 +969,13 @@ int UavcanNode::run()
 			bool set_armed = _armed.armed && !_armed.lockdown && !_armed.manual_lockdown && !_test_in_progress;
 
 			arm_actuators(set_armed);
+
+			if (_armed.soft_stop) {
+				_esc_controller.enable_idle_throttle_when_armed(false);
+
+			} else {
+				_esc_controller.enable_idle_throttle_when_armed(_idle_throttle_when_armed > 0);
+			}
 		}
 	}
 
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp
index f84dff1630..361594ccd1 100644
--- a/src/modules/uavcan/uavcan_main.hpp
+++ b/src/modules/uavcan/uavcan_main.hpp
@@ -199,6 +199,7 @@ private:
 	orb_id_t			_control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
 	pollfd				_poll_fds[UAVCAN_NUM_POLL_FDS] = {};
 	unsigned			_poll_fds_num = 0;
+	int32_t 			_idle_throttle_when_armed = 0;
 
 	int				_actuator_direct_sub = -1;   ///< uORB subscription of the actuator_direct topic
 	uint8_t				_actuator_direct_poll_fd_num = 0;