diff --git a/APMrover2/Attitude.pde b/APMrover2/Attitude.pde
index 690504a634..6185fc8e7a 100644
--- a/APMrover2/Attitude.pde
+++ b/APMrover2/Attitude.pde
@@ -33,9 +33,9 @@ static void throttle_slew_limit(int16_t last_throttle)
 }
 
 static void calc_throttle()
-{  int rov_speed;
-    
-   int throttle_target = g.throttle_cruise + throttle_nudge + 50;   
+{  
+   int rov_speed;
+   int throttle_target = g.throttle_cruise + throttle_nudge;  
    
    rov_speed = g.airspeed_cruise;    
      
@@ -44,8 +44,8 @@ static void calc_throttle()
         
    groundspeed_error = rov_speed - (float)ground_speed; 
         
-   throttle = (throttle_target + g.pidTeThrottle.get_pid(groundspeed_error)) * 10;
-   g.channel_throttle.servo_out = constrain(((float)throttle / 10.0f), 0, g.throttle_max.get());
+   throttle = throttle_target + g.pidTeThrottle.get_pid(groundspeed_error);
+   g.channel_throttle.servo_out = constrain(throttle, 0, g.throttle_max.get());
 }
 
 /*****************************************
diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 72b48d428c..9d0067cb67 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -329,7 +329,7 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
         (float)g_gps->ground_speed / 100.0,
         (float)g_gps->ground_speed / 100.0,
         (ahrs.yaw_sensor / 100) % 360,
-        (uint16_t)(100 * (g.channel_throttle.norm_output() / 2.0 + 0.5)), // scale -1,1 to 0-100
+        (uint16_t)(100 * g.channel_throttle.norm_output()),
         current_loc.alt / 100.0,
         0);
 }
diff --git a/APMrover2/radio.pde b/APMrover2/radio.pde
index a2a2bb97ef..65070aee59 100644
--- a/APMrover2/radio.pde
+++ b/APMrover2/radio.pde
@@ -11,7 +11,7 @@ static void init_rc_in()
 	g.channel_roll.set_angle(SERVO_MAX);
 	g.channel_pitch.set_angle(SERVO_MAX);
 	g.channel_rudder.set_angle(SERVO_MAX);
-	g.channel_throttle.set_range(0, 100);
+	g.channel_throttle.set_angle(100);
 
 	// set rc dead zones
 	g.channel_roll.set_dead_zone(60);