diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 73b0e58c55..350c29d239 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -51,16 +51,33 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("ACCTHRESH",    3,     AP_Arming,  accel_error_threshold,  AP_ARMING_ACCEL_ERROR_THRESHOLD),
 
+    // @Param: MIN_VOLT
+    // @DisplayName: Minimum arming voltage on the first battery
+    // @Description: The minimum voltage on the first battery to arm, 0 disabes the check
+    // @Units: Volts
+    // @Increment: 0.1 
+    // @User: Standard
+    AP_GROUPINFO("MIN_VOLT",      4,     AP_Arming,  _min_voltage[0],  0),
+
+    // @Param: MIN_VOLT2
+    // @DisplayName: Minimum arming voltage on the second battery
+    // @Description: The minimum voltage on the first battery to arm, 0 disabes the check
+    // @Units: Volts
+    // @Increment: 0.1 
+    // @User: Standard
+    AP_GROUPINFO("MIN_VOLT2",     5,     AP_Arming,  _min_voltage[1],  0),
+
     AP_GROUPEND
 };
 
 //The function point is particularly hacky, hacky, tacky
 //but I don't want to reimplement messaging to GCS at the moment:
 AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
-                     const enum HomeState &home_set) :
+                     const AP_BattMonitor &battery, const enum HomeState &home_set) :
     ahrs(ahrs_ref),
     barometer(baro),
     _compass(compass),
+    _battery(battery),
     home_is_set(home_set),
     armed(false),
     logging_available(false),
@@ -345,8 +362,16 @@ bool AP_Arming::battery_checks(bool report)
             }
             return false;
         }
-    }
 
+        for (int i = 0; i < AP_BATT_MONITOR_MAX_INSTANCES; i++) {
+            if ((_min_voltage[i] > 0.0f) && (_battery.voltage(i) < _min_voltage[i])) {
+                if (report) {
+                    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Battery %d voltage below minimum", i);
+                }
+                return false;
+            }
+        }
+     }
     return true;
 }
 
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index 715e7b14ae..cd3e674381 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -4,6 +4,7 @@
 #define __AP_ARMING_H__ 
 
 #include <AP_AHRS/AP_AHRS.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Param/AP_Param.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
@@ -46,7 +47,7 @@ public:
     };
 
     AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
-              const enum HomeState &home_set);
+              const AP_BattMonitor &battery, const enum HomeState &home_set);
 
     ArmingRequired arming_required();
     bool arm(uint8_t method);
@@ -71,11 +72,13 @@ protected:
     AP_Int8                 rudder_arming_value;
     AP_Int16                checks_to_perform;      // bitmask for which checks are required
     AP_Float                accel_error_threshold;
+    AP_Float                _min_voltage[2];
 
     // references
     const AP_AHRS           &ahrs;
     const AP_Baro           &barometer;
     Compass                 &_compass;
+    const AP_BattMonitor    &_battery;
     const enum HomeState    &home_is_set;
 
     // internal members