diff --git a/ArduPlane/afs_plane.cpp b/ArduPlane/afs_plane.cpp
index c58837962d..0ea5d123e1 100644
--- a/ArduPlane/afs_plane.cpp
+++ b/ArduPlane/afs_plane.cpp
@@ -81,7 +81,7 @@ void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
     if (plane.quadplane.available()) {
         // setup AP_Motors outputs for failsafe
         uint16_t mask = plane.quadplane.motors->get_motor_mask();
-        hal.rcout->set_failsafe_pwm(mask, plane.quadplane.thr_min_pwm);
+        hal.rcout->set_failsafe_pwm(mask, plane.quadplane.motors->get_pwm_output_min());
     }
 }
 
diff --git a/ArduPlane/motor_test.cpp b/ArduPlane/motor_test.cpp
index 55aca13089..95b7a6d4cf 100644
--- a/ArduPlane/motor_test.cpp
+++ b/ArduPlane/motor_test.cpp
@@ -42,6 +42,9 @@ void QuadPlane::motor_test_output()
     int16_t pwm = 0;   // pwm that will be output to the motors
 
     // calculate pwm based on throttle type
+    const int16_t thr_min_pwm = motors->get_pwm_output_min();
+    const int16_t thr_max_pwm = motors->get_pwm_output_max();
+
     switch (motor_test.throttle_type) {
     case MOTOR_TEST_THROTTLE_PERCENT:
         // sanity check motor_test.throttle value
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index c8eacb17d5..6bdd576b03 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -79,23 +79,8 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("RC_SPEED", 21, QuadPlane, rc_speed, 490),
 
-    // @Param: THR_MIN_PWM
-    // @DisplayName: Minimum PWM output
-    // @Description: This is the minimum PWM output for the quad motors
-    // @Units: PWM
-    // @Range: 800 2200
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("THR_MIN_PWM", 22, QuadPlane, thr_min_pwm, 1000),
-
-    // @Param: THR_MAX_PWM
-    // @DisplayName: Maximum PWM output
-    // @Description: This is the maximum PWM output for the quad motors
-    // @Units: PWM
-    // @Range: 800 2200
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("THR_MAX_PWM", 23, QuadPlane, thr_max_pwm, 2000),
+    // 22: THR_MIN_PWM
+    // 23: THR_MAX_PWM
 
     // @Param: ASSIST_SPEED
     // @DisplayName: Quadplane assistance speed
@@ -632,6 +617,10 @@ const AP_Param::ConversionInfo q_conversion_table[] = {
     { Parameters::k_param_q_attitude_control, 449,  AP_PARAM_FLOAT, "Q_A_RAT_RLL_FF" },  // Q_A_RAT_RLL_FF
     { Parameters::k_param_q_attitude_control, 450,  AP_PARAM_FLOAT, "Q_A_RAT_PIT_FF" },  // Q_A_RAT_PIT_FF
     { Parameters::k_param_q_attitude_control, 451,  AP_PARAM_FLOAT, "Q_A_RAT_YAW_FF" },  // Q_A_RAT_YAW_FILT
+
+    { Parameters::k_param_quadplane, 22,  AP_PARAM_INT16, "Q_M_PWM_MIN" },
+    { Parameters::k_param_quadplane, 23,  AP_PARAM_INT16, "Q_M_PWM_MAX" },
+
 };
 
 
@@ -821,7 +810,7 @@ bool QuadPlane::setup(void)
     // failsafe will disable motors
     for (uint8_t i=0; i<8; i++) {
         SRV_Channel::Aux_servo_function_t func = SRV_Channels::get_motor_function(i);
-        SRV_Channels::set_failsafe_pwm(func, thr_min_pwm);
+        SRV_Channels::set_failsafe_pwm(func, motors->get_pwm_output_min());
     }
 
     transition_state = TRANSITION_DONE;
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 5e28d22f4c..e6499b1d1f 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -328,10 +328,6 @@ private:
 
     AP_Int16 rc_speed;
 
-    // min and max PWM for throttle
-    AP_Int16 thr_min_pwm;
-    AP_Int16 thr_max_pwm;
-
     // speed below which quad assistance is given
     AP_Float assist_speed;