diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
index 89a5cdd2c6..c06ae46ed9 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
@@ -251,7 +251,7 @@ bool AP_MotorsHeli_Dual::init_outputs()
 
     // set signal value for main rotor external governor to know when to use autorotation bailout ramp up
     if (_main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_SETPOINT  ||  _main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_PASSTHROUGH) {
-        _main_rotor.set_ext_gov_arot_bail(_main_rotor._ext_gov_arot_pct.get());
+        _main_rotor.set_ext_gov_arot_bail(_main_rotor._arot_idle_output.get());
     } else {
         _main_rotor.set_ext_gov_arot_bail(0);
     }
@@ -342,7 +342,7 @@ void AP_MotorsHeli_Dual::calculate_armed_scalars()
     _main_rotor.use_bailout_ramp_time(_heliflags.enable_bailout);
 
     // allow use of external governor autorotation bailout window on main rotor
-    if (_main_rotor._ext_gov_arot_pct.get() > 0  &&  (_main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_SETPOINT  ||  _main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_PASSTHROUGH)){
+    if (_main_rotor._arot_idle_output.get() > 0  &&  (_main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_SETPOINT  ||  _main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_PASSTHROUGH)){
         // RSC only needs to know that the vehicle is in an autorotation if using the bailout window on an external governor
         _main_rotor.set_autorotation_flag(_heliflags.in_autorotation);
     }
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
index 7d44022640..5c003f47fd 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
@@ -62,7 +62,7 @@ bool AP_MotorsHeli_Quad::init_outputs()
 
     // set signal value for main rotor external governor to know when to use autorotation bailout ramp up
     if (_main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_SETPOINT  ||  _main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_PASSTHROUGH) {
-        _main_rotor.set_ext_gov_arot_bail(_main_rotor._ext_gov_arot_pct.get());
+        _main_rotor.set_ext_gov_arot_bail(_main_rotor._arot_idle_output.get());
     } else {
         _main_rotor.set_ext_gov_arot_bail(0);
     }
@@ -121,7 +121,7 @@ void AP_MotorsHeli_Quad::calculate_armed_scalars()
     _main_rotor.use_bailout_ramp_time(_heliflags.enable_bailout);
 
     // allow use of external governor autorotation bailout window on main rotor
-    if (_main_rotor._ext_gov_arot_pct.get() > 0  &&  (_main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_SETPOINT  ||  _main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_PASSTHROUGH)){
+    if (_main_rotor._arot_idle_output.get() > 0  &&  (_main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_SETPOINT  ||  _main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_PASSTHROUGH)){
         // RSC only needs to know that the vehicle is in an autorotation if using the bailout window on an external governor
         _main_rotor.set_autorotation_flag(_heliflags.in_autorotation);
     }
diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
index c4b4eb2456..017579ab46 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
@@ -137,14 +137,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_RSC::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("GOV_RANGE", 17, AP_MotorsHeli_RSC, _governor_range, AP_MOTORS_HELI_RSC_GOVERNOR_RANGE_DEFAULT),
 
-    // @Param: AROT_PCT
-    // @DisplayName: Autorotation Throttle Percentage for External Governor
-    // @Description: The throttle percentage sent to external governors, signaling to enable fast spool-up, when bailing out of an autorotation.  Set 0 to disable. If also using a tail rotor of type DDVP with external governor then this value must lie within the autorotation window of both governors.
-    // @Range: 0 40
-    // @Units: %
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("AROT_PCT", 18, AP_MotorsHeli_RSC, _ext_gov_arot_pct, AP_MOTORS_HELI_RSC_AROT_PCT),
+    // Index 18 was renamed from AROT_PCT to AROT_IDLE
 
     // @Param: CLDWN_TIME
     // @DisplayName: Cooldown Time
@@ -216,6 +209,15 @@ const AP_Param::GroupInfo AP_MotorsHeli_RSC::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("AROT_MN_EN", 26, AP_MotorsHeli_RSC, _rsc_arot_man_enable, 0),
 
+    // @Param: AROT_IDLE
+    // @DisplayName: Idle Throttle Percentage during Autorotation
+    // @Description: Idle throttle used for all RSC modes.  For external governors, this would be set to signal it to enable fast spool-up, when bailing out of an autorotation.  Set 0 to disable. If also using a tail rotor of type DDVP with external governor then this value must lie within the autorotation window of both governors.
+    // @Range: 0 40
+    // @Units: %
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("AROT_IDLE", 27, AP_MotorsHeli_RSC, _arot_idle_output, AP_MOTORS_HELI_RSC_AROT_IDLE),
+
     AP_GROUPEND
 };
 
@@ -305,8 +307,13 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
         _autothrottle = false;
         _governor_fault = false;
         if (_in_autorotation) {
-            // if in autorotation and using an external governor, set the output to tell the governor to use bailout ramp
-            _idle_throttle = constrain_float( _ext_gov_arot_pct/100.0f, 0.0f, 0.4f);
+            // if in autorotation, set the output to idle for autorotation. This will tell an external governor to use fast ramp for spool up.
+            // if autorotation idle is set to zero then default to the RSC idle value.
+            if (_arot_idle_output == 0) {
+                _idle_throttle = get_idle_output();
+            } else {
+                _idle_throttle = constrain_float( get_arot_idle_output(), 0.0f, 0.4f);
+            }
             if (!_autorotating) {
                 gcs().send_text(MAV_SEVERITY_CRITICAL, "Autorotation");
                 _autorotating =true;
diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.h b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
index bc1777bec5..ed95a44383 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
@@ -18,7 +18,7 @@
 #define AP_MOTORS_HELI_RSC_RAMP_TIME            1       // 1 second to ramp output to main rotor ESC to setpoint
 #define AP_MOTORS_HELI_RSC_RUNUP_TIME           10      // 10 seconds for rotor to reach full speed
 #define AP_MOTORS_HELI_RSC_AROT_ENGAGE_TIME     1       // time in seconds to ramp motors when bailing out of autorotation
-#define AP_MOTORS_HELI_RSC_AROT_PCT             0
+#define AP_MOTORS_HELI_RSC_AROT_IDLE            0
 
 // Throttle Curve Defaults
 #define AP_MOTORS_HELI_RSC_THRCRV_0_DEFAULT     25
@@ -129,7 +129,7 @@ public:
     AP_Int8         _runup_time;              // Time in seconds for the main rotor to reach full speed.  Must be longer than _rsc_ramp_time
     AP_Int16        _critical_speed;          // Rotor speed below which flight is not possible
     AP_Int16        _idle_output;             // Rotor control output while at idle
-    AP_Int16        _ext_gov_arot_pct;        // Percent value sent to external governor when in autorotation
+    AP_Int16        _arot_idle_output;           // Percent value used when in autorotation
     AP_Int8         _rsc_arot_engage_time;    // time in seconds for in-flight power re-engagement
     AP_Int8         _rsc_arot_man_enable;     // enables manual autorotation
 
@@ -195,4 +195,5 @@ private:
     float       get_idle_output() const { return _idle_output * 0.01; }
     float       get_governor_torque() const { return _governor_torque * 0.01; }
     float       get_governor_compensator() const { return _governor_compensator * 0.000001; }
+    float       get_arot_idle_output() const { return _arot_idle_output * 0.01; }
 };
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index c23fe748d5..cf70409365 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -188,7 +188,7 @@ bool AP_MotorsHeli_Single::init_outputs()
 
     // set signal value for main rotor external governor to know when to use autorotation bailout ramp up
     if (_main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_SETPOINT  ||  _main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_PASSTHROUGH) {
-        _main_rotor.set_ext_gov_arot_bail(_main_rotor._ext_gov_arot_pct.get());
+        _main_rotor.set_ext_gov_arot_bail(_main_rotor._arot_idle_output.get());
     } else {
         _main_rotor.set_ext_gov_arot_bail(0);
     }
@@ -196,7 +196,7 @@ bool AP_MotorsHeli_Single::init_outputs()
     // set signal value for tail rotor external governor to know when to use autorotation bailout ramp up
     if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPIT_EXT_GOV) {
         // set point for tail rsc is the same as for main rotor to save on parameters
-        _tail_rotor.set_ext_gov_arot_bail(_main_rotor._ext_gov_arot_pct.get());
+        _tail_rotor.set_ext_gov_arot_bail(_main_rotor._arot_idle_output.get());
     } else {
         _tail_rotor.set_ext_gov_arot_bail(0);
     }