Copter: Allow safe shutdown before disarming

ArduCopter/mode_auto.cpp

@@ -810,7 +810,7 @@ void Copter::ModeAuto::spline_run()
 void Copter::ModeAuto::land_run()
 {
     // disarm when the landing detector says we've landed
-    if (ap.land_complete) {
+    if (ap.land_complete && motors->get_spool_mode() == AP_Motors::GROUND_IDLE) {
         copter.init_disarm_motors();
     }
 

ArduCopter/mode_land.cpp

@@ -54,7 +54,7 @@ void Copter::ModeLand::run()
 void Copter::ModeLand::gps_run()
 {
     // disarm when the landing detector says we've landed
-    if (ap.land_complete) {
+    if (ap.land_complete && motors->get_spool_mode() == AP_Motors::GROUND_IDLE) {
         copter.init_disarm_motors();
     }
 
@@ -105,7 +105,7 @@ void Copter::ModeLand::nogps_run()
     }
 
     // disarm when the landing detector says we've landed
-    if (ap.land_complete) {
+    if (ap.land_complete && motors->get_spool_mode() == AP_Motors::GROUND_IDLE) {
         copter.init_disarm_motors();
     }
 

ArduCopter/mode_rtl.cpp

@@ -357,7 +357,7 @@ void Copter::ModeRTL::land_run(bool disarm_on_land)
     _state_complete = ap.land_complete;
 
     // disarm when the landing detector says we've landed
-    if (disarm_on_land && ap.land_complete) {
+    if (disarm_on_land && ap.land_complete && motors->get_spool_mode() == AP_Motors::GROUND_IDLE) {
         copter.init_disarm_motors();
     }