diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 5890f8c33a..0a52e3f6d6 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -237,7 +237,7 @@ void AP_MotorsMatrix::output_armed()
         //      We will choose #1 (the best throttle for yaw control) if that means reducing throttle to the motors (i.e. we favour reducing throttle *because* it provides better yaw control)
         //      We will choose #2 (a mix of pilot and hover throttle) only when the throttle is quite low.  We favour reducing throttle instead of better yaw control because the pilot has commanded it
         int16_t motor_mid = (rpy_low+rpy_high)/2;
-        out_best_thr_pwm = min(out_mid_pwm - motor_mid, max(_rc_throttle.radio_out, (_rc_throttle.radio_out+_hover_out)/2));
+        out_best_thr_pwm = min(out_mid_pwm - motor_mid, max(_rc_throttle.radio_out, _rc_throttle.radio_out*max(0,1.0f-_throttle_low_comp)+_hover_out*_throttle_low_comp));
 
         // calculate amount of yaw we can fit into the throttle range
         // this is always equal to or less than the requested yaw from the pilot or rate controller
diff --git a/libraries/AP_Motors/AP_Motors_Class.cpp b/libraries/AP_Motors/AP_Motors_Class.cpp
index 9bd48784fc..c1ac57761c 100644
--- a/libraries/AP_Motors/AP_Motors_Class.cpp
+++ b/libraries/AP_Motors/AP_Motors_Class.cpp
@@ -77,6 +77,13 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
     // @User: Advanced
     AP_GROUPINFO("YAW_HEADROOM", 6, AP_Motors, _yaw_headroom, AP_MOTORS_YAW_HEADROOM_DEFAULT),
 
+    // @Param: THR_LOW_CMP
+    // @DisplayName: Motor low throttle compensation
+    // @Description: Ratio controlling the max throttle output during competing requests of low throttle from the pilot (or autopilot) and higher throttle for attitude control
+    // @Values: 0.2:Favour Throttle Control, 0.5:Equal Weighting, 1:Favour Attitude Control
+    // @User: Advanced
+    AP_GROUPINFO("THR_LOW_CMP", 7, AP_Motors, _throttle_low_comp, AP_MOTORS_THR_LOW_CMP_DEFAULT),
+
     // @Param: THST_EXPO
     // @DisplayName: Thrust Curve Expo
     // @Description: Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index 99241d188c..d965865962 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -56,6 +56,7 @@
 
 #define AP_MOTORS_YAW_HEADROOM_DEFAULT  200
 
+#define AP_MOTORS_THR_LOW_CMP_DEFAULT   0.5f // ratio controlling the max throttle output during competing requests of low throttle from the pilot (or autopilot) and higher throttle for attitude control.  Higher favours Attitude over pilot input
 #define AP_MOTORS_THST_EXPO_DEFAULT     0.5f // set to 0 for linear and 1 for second order approximation
 #define AP_MOTORS_THST_MAX_DEFAULT      0.95f   // throttle which produces the maximum thrust.  (i.e. 0 ~ 1 ) of the full throttle range
 #define AP_MOTORS_THST_BAT_MAX_DEFAULT  0.0f
@@ -197,6 +198,7 @@ protected:
     AP_Int16            _spin_when_armed;       // used to control whether the motors always spin when armed.  pwm value above radio_min
 
     AP_Int16            _yaw_headroom;          // yaw control is given at least this pwm range
+    AP_Float            _throttle_low_comp;     // mix between throttle and hover throttle for 0 to 1 and ratio above hover throttle for >1
     AP_Float            _thrust_curve_expo;     // curve used to linearize pwm to thrust conversion.  set to 0 for linear and 1 for second order approximation
     AP_Float            _thrust_curve_max;      // throttle which produces the maximum thrust.  (i.e. 0 ~ 1 ) of the full throttle range
     AP_Float            _batt_voltage_max;      // maximum voltage used to scale lift