diff --git a/src/mw.c b/src/mw.c
index 3d87f7c382..85b5beaef1 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -81,14 +81,19 @@ uint16_t InflightcalibratingA = 0;
 
 void updateAutotuneState(void)
 {
+    static bool landedAfterAutoTuning = false;
+    static bool autoTuneWasUsed = false;
+
     if (rcOptions[BOXAUTOTUNE]) {
         if (!f.AUTOTUNE_MODE) {
             if (f.ARMED) {
-                if (isAutotuneIdle()) {
+                if (isAutotuneIdle() || landedAfterAutoTuning) {
                     autotuneReset();
+                    landedAfterAutoTuning = false;
                 }
                 autotuneBeginNextPhase(&currentProfile.pidProfile, currentProfile.pidController);
                 f.AUTOTUNE_MODE = 1;
+                autoTuneWasUsed = true;
             } else {
                 if (havePidsBeenUpdatedByAutotune()) {
                     //writeEEPROM();
@@ -104,6 +109,10 @@ void updateAutotuneState(void)
         autotuneEndPhase();
         f.AUTOTUNE_MODE = 0;
     }
+
+    if (!f.ARMED && autoTuneWasUsed) {
+        landedAfterAutoTuning = true;
+    }
 }
 
 bool isCalibrating()