diff --git a/ArduCopter/control_althold.pde b/ArduCopter/control_althold.pde
index bfc553cb94..843b175ca7 100644
--- a/ArduCopter/control_althold.pde
+++ b/ArduCopter/control_althold.pde
@@ -59,8 +59,8 @@ static void althold_run()
     if (ap.land_complete) {
         attitude_control.relax_bf_rate_controller();
         attitude_control.set_yaw_target_to_current_heading();
-        // move throttle to minimum to keep us on the ground
-        attitude_control.set_throttle_out(0, false);
+        // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
+        attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
     }else{
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
diff --git a/ArduCopter/control_autotune.pde b/ArduCopter/control_autotune.pde
index b12f12688d..298b3fcb43 100644
--- a/ArduCopter/control_autotune.pde
+++ b/ArduCopter/control_autotune.pde
@@ -243,8 +243,8 @@ static void autotune_run()
     if (ap.land_complete) {
         attitude_control.relax_bf_rate_controller();
         attitude_control.set_yaw_target_to_current_heading();
-        // move throttle to minimum to keep us on the ground
-        attitude_control.set_throttle_out(0, false);
+        // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
+        attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
     }else{
         // check if pilot is overriding the controls
         if (target_roll != 0 || target_pitch != 0 || target_yaw_rate != 0.0f || target_climb_rate != 0) {
diff --git a/ArduCopter/control_loiter.pde b/ArduCopter/control_loiter.pde
index 8d1575b45a..c5d46d47c7 100644
--- a/ArduCopter/control_loiter.pde
+++ b/ArduCopter/control_loiter.pde
@@ -72,7 +72,8 @@ static void loiter_run()
         wp_nav.init_loiter_target();
         attitude_control.relax_bf_rate_controller();
         attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
+        attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
     }else{
         // run loiter controller
         wp_nav.update_loiter();
diff --git a/ArduCopter/control_ofloiter.pde b/ArduCopter/control_ofloiter.pde
index 23d1abf670..0edf8535be 100644
--- a/ArduCopter/control_ofloiter.pde
+++ b/ArduCopter/control_ofloiter.pde
@@ -70,7 +70,8 @@ static void ofloiter_run()
     if (ap.land_complete) {
         attitude_control.relax_bf_rate_controller();
         attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
+        attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
         reset_optflow_I();
     }else{
         // mix in user control with optical flow
diff --git a/ArduCopter/control_poshold.pde b/ArduCopter/control_poshold.pde
index 6a5a262a1a..7134dd537b 100644
--- a/ArduCopter/control_poshold.pde
+++ b/ArduCopter/control_poshold.pde
@@ -188,7 +188,8 @@ static void poshold_run()
         wp_nav.init_loiter_target();
         attitude_control.relax_bf_rate_controller();
         attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
+        attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
         return;
     }else{
         // convert pilot input to lean angles
diff --git a/ArduCopter/control_sport.pde b/ArduCopter/control_sport.pde
index 179400af74..180a976cdd 100644
--- a/ArduCopter/control_sport.pde
+++ b/ArduCopter/control_sport.pde
@@ -78,8 +78,8 @@ static void sport_run()
     if (ap.land_complete) {
         attitude_control.relax_bf_rate_controller();
         attitude_control.set_yaw_target_to_current_heading();
-        // move throttle to minimum to keep us on the ground
-        attitude_control.set_throttle_out(0, false);
+        // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
+        attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
     }else{
 
         // call attitude controller