diff --git a/ArduSub/control_acro.cpp b/ArduSub/control_acro.cpp
index 0c5c16b5d8..77fbd8fc23 100644
--- a/ArduSub/control_acro.cpp
+++ b/ArduSub/control_acro.cpp
@@ -27,7 +27,7 @@ void Sub::acro_run()
     int16_t pilot_throttle_scaled;
 
     // if motors not running reset angle targets
-    if(!motors.armed() || ap.throttle_zero) {
+    if(!motors.armed()) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         // slow start if landed
         if (ap.land_complete) {
diff --git a/ArduSub/control_rov.cpp b/ArduSub/control_rov.cpp
index fe197ebfde..417746b2b2 100644
--- a/ArduSub/control_rov.cpp
+++ b/ArduSub/control_rov.cpp
@@ -28,7 +28,7 @@ void Sub::rov_run()
     int16_t pilot_throttle_scaled;
 
     // if not armed or throttle at zero, set throttle to zero and exit immediately
-    if(!motors.armed() || ap.throttle_zero) {
+    if(!motors.armed()) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         // slow start if landed
         if (ap.land_complete) {
diff --git a/ArduSub/control_sport.cpp b/ArduSub/control_sport.cpp
index 4f2461ccfb..68dbfaea1d 100644
--- a/ArduSub/control_sport.cpp
+++ b/ArduSub/control_sport.cpp
@@ -33,7 +33,7 @@ void Sub::sport_run()
     pos_control.set_accel_z(g.pilot_accel_z);
 
     // if not armed or throttle at zero, set throttle to zero and exit immediately
-    if(!motors.armed() || ap.throttle_zero) {
+    if(!motors.armed()) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
         return;
diff --git a/ArduSub/control_stabilize.cpp b/ArduSub/control_stabilize.cpp
index 59cf807fba..f7b00aceba 100644
--- a/ArduSub/control_stabilize.cpp
+++ b/ArduSub/control_stabilize.cpp
@@ -28,7 +28,7 @@ void Sub::stabilize_run()
     int16_t pilot_throttle_scaled;
 
     // if not armed or throttle at zero, set throttle to zero and exit immediately
-    if(!motors.armed() || ap.throttle_zero) {
+    if(!motors.armed()) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         // slow start if landed
         if (ap.land_complete) {