diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 1a0e2c8ac5..526d5b2ed0 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -595,6 +595,9 @@
 //////////////////////////////////////////////////////////////////////////////
 // Stop mode defaults
 //
+#ifndef BRAKE_MODE_SPEED_Z
+ # define BRAKE_MODE_SPEED_Z     250 // z-axis speed in cm/s in Brake Mode
+#endif
 #ifndef BRAKE_MODE_DECEL_RATE
  # define BRAKE_MODE_DECEL_RATE  750 // acceleration rate in cm/s/s in Brake Mode
 #endif
diff --git a/ArduCopter/control_brake.cpp b/ArduCopter/control_brake.cpp
index 234d1344e5..ddd3fb29cb 100644
--- a/ArduCopter/control_brake.cpp
+++ b/ArduCopter/control_brake.cpp
@@ -18,7 +18,7 @@ bool Copter::brake_init(bool ignore_checks)
         wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE);
 
         // initialize vertical speed and acceleration
-        pos_control.set_speed_z(0, 0);
+        pos_control.set_speed_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z);
         pos_control.set_accel_z(BRAKE_MODE_DECEL_RATE);
 
         // initialise altitude target to stopping point