diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index a77841d3f3..58aa63c571 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -333,6 +333,7 @@ private:
             uint8_t initialised_params      : 1; // 25      // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
             uint8_t compass_init_location   : 1; // 26      // true when the compass's initial location has been set
             uint8_t rc_override_enable      : 1; // 27      // aux switch rc_override is allowed
+            uint8_t armed_with_switch       : 1; // 28      // we armed using a arming switch
         };
         uint32_t value;
     } ap_t;
diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index 789f7c473e..66cb07c073 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -230,6 +230,9 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
     // Start the arming delay
     ap.in_arming_delay = true;
 
+    // assumed armed without a arming, switch. Overridden in switches.cpp
+    ap.armed_with_switch = false;
+    
     // return success
     return true;
 }
diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index e320cb8caa..f1e226f12b 100644
--- a/ArduCopter/radio.cpp
+++ b/ArduCopter/radio.cpp
@@ -178,7 +178,9 @@ void Copter::set_throttle_zero_flag(int16_t throttle_control)
     // if not using throttle interlock and non-zero throttle and not E-stopped,
     // or using motor interlock and it's enabled, then motors are running, 
     // and we are flying. Immediately set as non-zero
-    if ((!ap.using_interlock && (throttle_control > 0) && !ap.motor_emergency_stop) || (ap.using_interlock && motors->get_interlock())) {
+    if ((!ap.using_interlock && (throttle_control > 0) && !ap.motor_emergency_stop) ||
+        (ap.using_interlock && motors->get_interlock()) ||
+        ap.armed_with_switch) {
         last_nonzero_throttle_ms = tnow_ms;
         ap.throttle_zero = false;
     } else if (tnow_ms - last_nonzero_throttle_ms > THROTTLE_ZERO_DEBOUNCE_TIME_MS) {
diff --git a/ArduCopter/switches.cpp b/ArduCopter/switches.cpp
index c33cfe294f..57ae8f3d61 100644
--- a/ArduCopter/switches.cpp
+++ b/ArduCopter/switches.cpp
@@ -638,6 +638,8 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             switch (ch_flag) {
             case AUX_SWITCH_HIGH:
                 init_arm_motors(false);
+                // remember that we are using an arming switch, for use by set_throttle_zero_flag
+                ap.armed_with_switch = true;
                 break;
             case AUX_SWITCH_LOW:
                 init_disarm_motors();