diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 88defd199e..637af7d1ec 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1671,6 +1671,14 @@ void update_throttle_mode(void)
     }
 #endif
 
+#if FRAME_CONFIG == HELI_FRAME
+	if (roll_pitch_mode == ROLL_PITCH_STABLE){
+		motors.stab_throttle = true;
+	} else {
+		motors.stab_throttle = false;
+	}
+#endif // HELI_FRAME
+
     switch(throttle_mode) {
     case THROTTLE_MANUAL:
         if (g.rc_3.control_in > 0) {
diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index 203794b221..17c30113a9 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -159,6 +159,24 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
     // @Range: 0 1
     // @User: Standard
     AP_GROUPINFO("FLYBAR_MODE", 18, AP_MotorsHeli, flybar_mode, 0),
+	
+	// @Param: STAB_COL_MIN
+    // @DisplayName: Stabilize Throttle Minimum
+    // @Description: This is the minimum collective setpoint in Stabilize Mode
+    // @Range: 0 50
+    // @Units: 1%
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("STAB_COL_MIN", 19, AP_MotorsHeli, stab_col_min, 0),
+	
+	// @Param: STAB_COL_MAX
+    // @DisplayName: Stabilize Throttle Maximum
+    // @Description: This is the maximum collective setpoint in Stabilize Mode
+    // @Range: 50 100
+    // @Units: 1%
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("STAB_COL_MAX", 20, AP_MotorsHeli, stab_col_max, 100),
 
     AP_GROUPEND
 };
@@ -340,6 +358,7 @@ void AP_MotorsHeli::reset_swash()
     _roll_scaler = 1.0;
     _pitch_scaler = 1.0;
     _collective_scalar = ((float)(_rc_throttle->radio_max - _rc_throttle->radio_min))/1000.0;
+	_stab_throttle_scalar = 1.0;
 
     // we must be in set-up mode so mark swash as uninitialised
     _swash_initialised = false;
@@ -369,6 +388,7 @@ void AP_MotorsHeli::init_swash()
     _roll_scaler = (float)roll_max/4500.0;
     _pitch_scaler = (float)pitch_max/4500.0;
     _collective_scalar = ((float)(collective_max-collective_min))/1000.0;
+	_stab_throttle_scalar = ((float)(stab_col_max - stab_col_min))/100.0;
 
     if( swash_type == AP_MOTORS_HELI_SWASH_CCPM ) {                     //CCPM Swashplate, perform control mixing
 
@@ -456,8 +476,11 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
 
         // scale collective pitch
         coll_out = constrain(coll_out, 0, 1000);
+		if (stab_throttle){
+			coll_out = coll_out * _stab_throttle_scalar + stab_col_min*10;
+		}
         coll_out_scaled = coll_out * _collective_scalar + collective_min - 1000;
-
+		
         // rudder feed forward based on collective
         if( !ext_gyro_enabled ) {
             yaw_offset = collective_yaw_effect * abs(coll_out_scaled - throttle_mid);
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index c5f0430a96..07335373a3 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -74,7 +74,9 @@ public:
         _roll_scaler = 1;
         _pitch_scaler = 1;
         _collective_scalar = 1;
+		_stab_throttle_scalar = 1;
         _swash_initialised = false;
+		stab_throttle = false;
     };
 
     RC_Channel      *_servo_1;
@@ -97,10 +99,13 @@ public:
     AP_Int16 collective_yaw_effect;
     AP_Int8 servo_manual;                       // used to trigger swash reset from mission planner
     AP_Int16 ext_gov_setpoint;                  // maximum output to the motor governor
-    AP_Int8 rsc_mode;                                   // sets the mode for rotor speed controller
+    AP_Int8 rsc_mode;                           // sets the mode for rotor speed controller
     AP_Int16 rsc_ramp_up_rate;                  // sets the time in 100th seconds the RSC takes to ramp up to speed
     AP_Int8 flybar_mode;                        // selects FBL Acro Mode, or Flybarred Acro Mode
     int16_t throttle_mid;                       // throttle mid point in pwm form (i.e. 0 ~ 1000)
+	AP_Int8 stab_col_min;						// collective pitch minimum in Stabilize Mode
+	AP_Int8 stab_col_max;						// collective pitch maximum in Stabilize Mode
+	bool stab_throttle;							// true if we are in Stabilize Mode for reduced Swash Range
 
 
     // init
@@ -153,12 +158,13 @@ protected:
 
     // internally used variables
 
-    float _roll_scaler;                                 // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
+    float _roll_scaler;                         // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
     float _pitch_scaler;                        // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range
     float _collective_scalar;                   // throttle scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
+	float _stab_throttle_scalar;				// throttle scalar to reduce the range of the collective movement in stabilize mode
     bool _swash_initialised;                    // true if swash has been initialised
-    int16_t rsc_output;                                 // final output to the external motor governor 1000-2000
-    int16_t rsc_ramp;                                   // current state of ramping
+    int16_t rsc_output;                         // final output to the external motor governor 1000-2000
+    int16_t rsc_ramp;                           // current state of ramping
 
 
 };