diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index e804b6366a..f487660f2b 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -61,10 +61,10 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = {
 
     // @Param: SV_MAN
     // @DisplayName: Manual Servo Mode
-    // @Description: Pass radio inputs directly to servos for set-up. Do not set this manually!
-    // @Values: 0:Disabled,1:Enabled
+    // @Description: Manual servo override for swash set-up. Do not set this manually!
+    // @Values: 0:Disabled,1:Passthrough,2:Center
     // @User: Standard
-    AP_GROUPINFO("SV_MAN",  6, AP_MotorsHeli, _servo_manual, 0),
+    AP_GROUPINFO("SV_MAN",  6, AP_MotorsHeli, _servo_manual, AP_MOTORS_HELI_MANUAL_OFF),
 
     // @Param: GOV_SETPOINT
     // @DisplayName: External Motor Governor Setpoint
@@ -162,7 +162,7 @@ void AP_MotorsHeli::Init()
     set_update_rate(_speed_hz);
 
     // ensure inputs are not passed through to servos on start-up
-    _servo_manual = 0;
+    _servo_manual = AP_MOTORS_HELI_MANUAL_OFF;
 
     // initialise Servo/PWM ranges and endpoints
     init_outputs();
@@ -209,7 +209,7 @@ void AP_MotorsHeli::output()
 void AP_MotorsHeli::output_armed_stabilizing()
 {
     // if manual override active after arming, deactivate it and reinitialize servos
-    if (_servo_manual == 1) {
+    if (_servo_manual != AP_MOTORS_HELI_MANUAL_OFF) {
         reset_flight_controls();
     }
 
@@ -221,7 +221,7 @@ void AP_MotorsHeli::output_armed_stabilizing()
 void AP_MotorsHeli::output_armed_not_stabilizing()
 {
     // if manual override active after arming, deactivate it and reinitialize servos
-    if (_servo_manual == 1) {
+    if (_servo_manual != AP_MOTORS_HELI_MANUAL_OFF) {
         reset_flight_controls();
     }
 
@@ -235,7 +235,7 @@ void AP_MotorsHeli::output_armed_not_stabilizing()
 void AP_MotorsHeli::output_armed_zero_throttle()
 {
     // if manual override active after arming, deactivate it and reinitialize servos
-    if (_servo_manual == 1) {
+    if (_servo_manual != AP_MOTORS_HELI_MANUAL_OFF) {
         reset_flight_controls();
     }
 
@@ -247,12 +247,19 @@ void AP_MotorsHeli::output_armed_zero_throttle()
 // output_disarmed - sends commands to the motors
 void AP_MotorsHeli::output_disarmed()
 {
-    // if manual override (i.e. when setting up swash), pass pilot commands straight through to swash
-    if (_servo_manual == 1) {
+    // if manual override (i.e. when setting up swash)
+    if (_servo_manual == AP_MOTORS_HELI_MANUAL_PASSTHROUGH) {
+        // pass pilot commands straight through to swash
         _roll_control_input = _roll_radio_passthrough;
         _pitch_control_input = _pitch_radio_passthrough;
         _throttle_control_input = _throttle_radio_passthrough;
         _yaw_control_input = _yaw_radio_passthrough;
+    } else if (_servo_manual == AP_MOTORS_HELI_MANUAL_CENTER) {
+        // center and fixate the swash
+        _roll_control_input = 0;
+        _pitch_control_input = 0;
+        _throttle_control_input = 500;
+        _yaw_control_input = 0;
     }
 
     // ensure swash servo endpoints haven't been moved
@@ -347,7 +354,7 @@ void AP_MotorsHeli::reset_radio_passthrough()
 void AP_MotorsHeli::reset_flight_controls()
 {
     reset_radio_passthrough();
-    _servo_manual = 0;
+    _servo_manual = AP_MOTORS_HELI_MANUAL_OFF;
     init_outputs();
     calculate_scalars();
 }
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index 0b58aae89e..718cee3480 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -54,6 +54,11 @@
 #define AP_MOTORS_HELI_NOFLYBAR                 0
 #define AP_MOTORS_HELI_FLYBAR                   1
 
+// manual servo modes (used for setup)
+#define AP_MOTORS_HELI_MANUAL_OFF               0
+#define AP_MOTORS_HELI_MANUAL_PASSTHROUGH       1
+#define AP_MOTORS_HELI_MANUAL_CENTER            2
+
 class AP_HeliControls;
 
 /// @class      AP_MotorsHeli