diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index e57eab2127..f634fa101f 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -64,4 +64,10 @@
 #define USERHOOK_VARIABLES "UserVariables.h"
 
 
+// to enable, set to 1
+// to disable, set to 0
+#define AUTO_THROTTLE_HOLD 1
+
+
+
 //# define LOGGING_ENABLED		DISABLED
\ No newline at end of file
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 0ce2deace4..9d86beab8b 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1494,6 +1494,10 @@ void update_throttle_mode(void)
 {
 	int16_t throttle_out;
 
+	#if AUTO_THROTTLE_HOLD != 0
+	static float throttle_avg = THROTTLE_CRUISE;
+	#endif
+
 	switch(throttle_mode){
 		case THROTTLE_MANUAL:
 			if (g.rc_3.control_in > 0){
@@ -1508,11 +1512,13 @@ void update_throttle_mode(void)
 					}
 				#endif
 
+				#if AUTO_THROTTLE_HOLD != 0
 				// calc average throttle
-				if ((g.rc_3.control_in > MINIMUM_THROTTLE)){
-					//throttle_avg = throttle_avg * .98 + rc_3.control_in * .02;
-					//g.throttle_cruise = throttle_avg;
+				if ((g.rc_3.control_in > MINIMUM_THROTTLE) && abs(climb_rate) < 60){
+					throttle_avg = throttle_avg * .98 + (float)g.rc_3.control_in * .02;
+					g.throttle_cruise = throttle_avg;
 				}
+				#endif
 
 				// Code to manage the Copter state
 				if ((millis() - takeoff_timer) > 5000){
diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 7c05c0b400..7b81974192 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -121,6 +121,8 @@ static void init_disarm_motors()
 	motor_armed 	= false;
 	compass.save_offsets();
 
+	g.throttle_cruise.save();
+
 	// we are not in the air
 	takeoff_complete = false;
 
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index f5ffa7241a..d783c5b5d7 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -616,12 +616,14 @@ static void update_throttle_cruise()
 static void
 init_throttle_cruise()
 {
+#if AUTO_THROTTLE_HOLD == 0
 	// are we moving from manual throttle to auto_throttle?
 	if((old_control_mode <= STABILIZE) && (g.rc_3.control_in > MINIMUM_THROTTLE)){
 		g.pi_throttle.reset_I();
 		g.pi_alt_hold.reset_I();
 		g.throttle_cruise.set_and_save(g.rc_3.control_in);
 	}
+#endif
 }
 
 #if CLI_SLIDER_ENABLED == ENABLED && CLI_ENABLED == ENABLED