diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 79288283c2..0cd214a473 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -220,7 +220,7 @@ void AP_MotorsMatrix::output_armed()
         // calculate amount of yaw we can fit into the throttle range
         // this is always equal to or less than the requested yaw from the pilot or rate controller
         yaw_allowed = min(out_max_pwm - out_best_thr_pwm, out_best_thr_pwm - out_min_pwm) - (rpy_high-rpy_low)/2;
-        yaw_allowed = max(yaw_allowed, AP_MOTORS_MATRIX_YAW_LOWER_LIMIT_PWM);
+        yaw_allowed = max(yaw_allowed, _yaw_headroom);
 
         if (_rc_yaw.pwm_out >= 0) {
             // if yawing right
diff --git a/libraries/AP_Motors/AP_MotorsMatrix.h b/libraries/AP_Motors/AP_MotorsMatrix.h
index 389688df79..93a9b1a697 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.h
+++ b/libraries/AP_Motors/AP_MotorsMatrix.h
@@ -14,8 +14,6 @@
 #define AP_MOTORS_MATRIX_YAW_FACTOR_CW   -1
 #define AP_MOTORS_MATRIX_YAW_FACTOR_CCW   1
 
-#define AP_MOTORS_MATRIX_YAW_LOWER_LIMIT_PWM    200
-
 /// @class      AP_MotorsMatrix
 class AP_MotorsMatrix : public AP_Motors {
 public:
diff --git a/libraries/AP_Motors/AP_Motors_Class.cpp b/libraries/AP_Motors/AP_Motors_Class.cpp
index fbfb88f624..e79886e6c1 100644
--- a/libraries/AP_Motors/AP_Motors_Class.cpp
+++ b/libraries/AP_Motors/AP_Motors_Class.cpp
@@ -69,6 +69,14 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
     // @User: Standard
     AP_GROUPINFO("SPIN_ARMED", 5, AP_Motors, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED),
 
+    // @Param: YAW_HEADROOM
+    // @DisplayName: Matrix Yaw Min
+    // @Description: Yaw control is given at least this pwm range
+    // @Range: 0 500
+    // @Units: pwm
+    // @User: Advanced
+    AP_GROUPINFO("YAW_HEADROOM", 6, AP_Motors, _yaw_headroom, AP_MOTORS_YAW_HEADROOM_DEFAULT),
+
     AP_GROUPEND
 };
 
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index 81a36dd7aa..8c4f065b21 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -54,6 +54,8 @@
 
 #define AP_MOTORS_SPIN_WHEN_ARMED   70  // spin motors at this PWM value when armed
 
+#define AP_MOTORS_YAW_HEADROOM_DEFAULT  200
+
 // bit mask for recording which limits we have reached when outputting to motors
 #define AP_MOTOR_NO_LIMITS_REACHED  0x00
 #define AP_MOTOR_ROLLPITCH_LIMIT    0x01
@@ -127,6 +129,9 @@ public:
     //  pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
     virtual void        throttle_pass_through(int16_t pwm);
 
+    // set_yaw_headroom - set yaw headroom (yaw is given at least this amount of pwm)
+    virtual void        set_yaw_headroom(int16_t pwm) { _yaw_headroom = pwm; }
+
 	// setup_throttle_curve - used to linearlise thrust output by motors
     //      returns true if curve is created successfully
 	bool                setup_throttle_curve();
@@ -180,6 +185,8 @@ protected:
     AP_Int8             _throttle_curve_max;    // throttle which produces the maximum thrust.  expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
     AP_Int16            _spin_when_armed;       // used to control whether the motors always spin when armed.  pwm value above radio_min
 
+    AP_Int16            _yaw_headroom;          // yaw control is given at least this pwm range
+
     // internal variables
     RC_Channel&         _rc_roll;               // roll input in from users is held in servo_out
     RC_Channel&         _rc_pitch;              // pitch input in from users is held in servo_out