diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index 61c0cf6577..4924f31136 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -260,7 +260,7 @@ void AP_MotorsHeli::enable()
     hal.rcout->enable_ch(AP_MOTORS_HELI_RSC);                               // output for main rotor esc
 }
 
-// output_min - sends minimum values out to the motors
+// output_min - sets servos to neutral point
 void AP_MotorsHeli::output_min()
 {
     // move swash to mid
@@ -377,7 +377,7 @@ uint16_t AP_MotorsHeli::get_motor_mask()
 
 void AP_MotorsHeli::output_armed_not_stabilizing()
 {
-    // call output_armed_stabilizing
+    // stabilizing servos always operate for helicopters
     output_armed_stabilizing();
 }
 
@@ -403,10 +403,18 @@ void AP_MotorsHeli::output_armed_stabilizing()
     rsc_control();
 }
 
+// output_armed_zero_throttle - sends commands to the motors
+void AP_MotorsHeli::output_armed_zero_throttle()
+{
+    // stabilizing servos always operate for helicopters
+    // ToDo: Bring RSC Master On/Off into this function
+    output_armed_stabilizing();
+}
+
 // output_disarmed - sends commands to the motors
 void AP_MotorsHeli::output_disarmed()
 {
-    // for helis - armed or disarmed we allow servos to move
+    // stabilizing servos always operate for helicopters
     output_armed_stabilizing();
 }
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index cbfbd1663e..c56645da21 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -139,7 +139,7 @@ public:
     // enable - starts allowing signals to be sent to motors
     void enable();
 
-    // output_min - sends minimum values out to the motors
+    // output_min - sets servos to neutral point
     void output_min();
 
     // output_test - spin a motor at the pwm value specified
@@ -210,6 +210,7 @@ protected:
     // output - sends commands to the motors
     void                output_armed_stabilizing();
     void                output_armed_not_stabilizing();
+    void                output_armed_zero_throttle();
     void                output_disarmed();
 
 private: