diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 68386b56f8..76cdeba1f5 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -641,6 +641,14 @@ void Rover::load_parameters(void)
     const uint16_t old_aux_chan_mask = 0x3FFA;
     SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, &rcmap);
     hal.console->printf("load_all took %uus\n", unsigned(micros() - before));
+
     // set a more reasonable default NAVL1_PERIOD for rovers
     L1_controller.set_default_period(NAVL1_PERIOD);
+
+    // configure safety switch to allow stopping the motors while armed
+#if AP_FEATURE_SAFETY_BUTTON
+    AP_Param::set_default_by_name("BRD_SAFETYOPTION", AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|
+                                                      AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON|
+                                                      AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED);
+#endif
 }