diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 953b394a49..c6026a4554 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -254,11 +254,70 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
         if (!pre_arm_proximity_check(display_failure)) {
             return false;
         }
+
+        // Check for 0 value PID's - some items can / should be 0 and as such are not checked.
+        // If the ATC_RAT_*_FF is non zero then the corresponding ATC_RAT_* PIDS can be 0.
+        if (is_zero(copter.g.p_pos_xy.kP())) {
+            parameter_checks_pid_warning_message(display_failure, "POS_XY_P");
+            return false;
+        } else if (is_zero(copter.g.p_alt_hold.kP())) {
+            parameter_checks_pid_warning_message(display_failure, "POS_Z_P");
+            return false;
+        } else if (is_zero(copter.g.p_vel_z.kP())) {
+            parameter_checks_pid_warning_message(display_failure, "VEL_Z_P");
+            return false;
+        } else if (is_zero(copter.g.pid_accel_z.kP())) {
+            parameter_checks_pid_warning_message(display_failure, "ACCEL_Z_P");
+            return false;
+        } else if (is_zero(copter.g.pid_accel_z.kI())) {
+            parameter_checks_pid_warning_message(display_failure, "ACCEL_Z_I");
+            return false;
+        } else if (is_zero(copter.attitude_control->get_rate_roll_pid().kP()) && is_zero(copter.attitude_control->get_rate_roll_pid().ff())) {
+            parameter_checks_pid_warning_message(display_failure, "ATC_RAT_RLL_P");
+            return false;
+        } else if (is_zero(copter.attitude_control->get_rate_roll_pid().kI()) && is_zero(copter.attitude_control->get_rate_roll_pid().ff())) {
+            parameter_checks_pid_warning_message(display_failure, "ATC_RAT_RLL_I");
+            return false;
+        } else if (is_zero(copter.attitude_control->get_rate_roll_pid().kD()) && is_zero(copter.attitude_control->get_rate_roll_pid().ff())) {
+            parameter_checks_pid_warning_message(display_failure, "ATC_RAT_RLL_D");
+            return false;
+        } else if (is_zero(copter.attitude_control->get_rate_pitch_pid().kP()) && is_zero(copter.attitude_control->get_rate_pitch_pid().ff())) {
+            parameter_checks_pid_warning_message(display_failure, "ATC_RAT_PIT_P");
+            return false;
+        } else if (is_zero(copter.attitude_control->get_rate_pitch_pid().kI()) && is_zero(copter.attitude_control->get_rate_pitch_pid().ff())) {
+            parameter_checks_pid_warning_message(display_failure, "ATC_RAT_PIT_I");
+            return false;
+        } else if (is_zero(copter.attitude_control->get_rate_pitch_pid().kD()) && is_zero(copter.attitude_control->get_rate_pitch_pid().ff())) {
+            parameter_checks_pid_warning_message(display_failure, "ATC_RAT_PIT_D");
+            return false;
+        } else if (is_zero(copter.attitude_control->get_rate_yaw_pid().kP()) && is_zero(copter.attitude_control->get_rate_yaw_pid().ff())) {
+            parameter_checks_pid_warning_message(display_failure, "ATC_RAT_YAW_P");
+            return false;
+        } else if (is_zero(copter.attitude_control->get_rate_yaw_pid().kI()) && is_zero(copter.attitude_control->get_rate_yaw_pid().ff())) {
+            parameter_checks_pid_warning_message(display_failure, "ATC_RAT_YAW_I");
+            return false;
+        } else if (is_zero(copter.attitude_control->get_angle_pitch_p().kP())) {
+            parameter_checks_pid_warning_message(display_failure, "ATC_ANG_PIT_P");
+            return false;
+        } else if (is_zero(copter.attitude_control->get_angle_roll_p().kP())) {
+            parameter_checks_pid_warning_message(display_failure, "ATC_ANG_RLL_P");
+            return false;
+        } else if (is_zero(copter.attitude_control->get_angle_yaw_p().kP())) {
+            parameter_checks_pid_warning_message(display_failure, "ATC_ANG_YAW_P");
+            return false;
+        }
     }
 
     return true;
 }
 
+void AP_Arming_Copter::parameter_checks_pid_warning_message(bool display_failure, const char *error_msg)
+{
+    if (display_failure) {
+        gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check PIDs - %s", error_msg);
+    }
+}
+
 // check motor setup was successful
 bool AP_Arming_Copter::motor_checks(bool display_failure)
 {
diff --git a/ArduCopter/AP_Arming.h b/ArduCopter/AP_Arming.h
index 6fdefd8e87..ac73d74a53 100644
--- a/ArduCopter/AP_Arming.h
+++ b/ArduCopter/AP_Arming.h
@@ -62,4 +62,5 @@ private:
     const AP_InertialSensor &_ins;
     const AP_AHRS_NavEKF &_ahrs_navekf;
 
+    void parameter_checks_pid_warning_message(bool display_failure, const char *error_msg);
 };