diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 9198a9449d..497d412739 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -966,6 +966,8 @@ static void load_parameters(void)
     if (!ahrs.gps_gain.load()) {
         ahrs.gps_gain.set_and_save(1.0);
     }
+    // set gps_gain to zero, it will be set back to 1 as part of the arming process
+    ahrs.gps_gain.set(0);
 
     // setup different AHRS gains for ArduCopter than the default
     // but allow users to override in their config
diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index e6b43e0cce..d061312378 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -144,6 +144,9 @@ static void init_arm_motors()
     ahrs2.set_fast_gains(false);
 #endif
 
+    // enable gps velocity based centrefugal force compensation
+    ahrs.gps_gain.load();
+
     // finally actually arm the motors
     motors.armed(true);
 
@@ -209,6 +212,9 @@ static void init_disarm_motors()
 #if SECONDARY_DMP_ENABLED == ENABLED
     ahrs2.set_fast_gains(true);
 #endif
+
+    // disable gps velocity based centrefugal force compensation
+    ahrs.gps_gain.set(0);
 }
 
 /*****************************************