diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index 790a80ddd..9ce295d7a 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -767,6 +767,21 @@ static bool okToArm(void)
 
 	return true;
 }
+/**
+ * @brief Determine if the aircraft is forced to disarm by an explicit alarm
+ * @returns True if safe to arm, false otherwise
+ */
+static bool forcedDisArm(void)
+{
+	// read alarms
+	SystemAlarmsData alarms;
+	SystemAlarmsGet(&alarms);
+
+	if (alarms.Alarm[SYSTEMALARMS_ALARM_FORCEDISARM] == SYSTEMALARMS_ALARM_CRITICAL) {
+		return true;
+	}
+	return false;
+}
 
 /**
  * @brief Update the flightStatus object only if value changed.  Reduces callbacks
@@ -792,6 +807,12 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData
 
 	bool lowThrottle = cmd->Throttle <= 0;
 
+	if (forcedDisArm()) {
+		// PathPlanner forces explicit disarming due to error condition (crash, impact, fire, ...)
+		setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
+		return;
+	}
+
 	if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
 		// In this configuration we always disarm
 		setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
diff --git a/shared/uavobjectdefinition/systemalarms.xml b/shared/uavobjectdefinition/systemalarms.xml
index cc20045b6..5bf7f7300 100644
--- a/shared/uavobjectdefinition/systemalarms.xml
+++ b/shared/uavobjectdefinition/systemalarms.xml
@@ -2,7 +2,7 @@
     <object name="SystemAlarms" singleinstance="true" settings="false">
         <description>Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.</description>
         <field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical"
-        elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Sensors,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS,BootFault" defaultvalue="Uninitialised"/>
+        elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Sensors,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS,BootFault,ForceDisarm" defaultvalue="Uninitialised"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>