diff --git a/Rover/AP_Arming.cpp b/Rover/AP_Arming.cpp
index e25e3ea7da..b8c7a31b09 100644
--- a/Rover/AP_Arming.cpp
+++ b/Rover/AP_Arming.cpp
@@ -89,7 +89,8 @@ bool AP_Arming_Rover::pre_arm_checks(bool report)
             & motor_checks(report)
             & oa_check(report)
             & parameter_checks(report)
-            & mode_checks(report));
+            & mode_checks(report)
+            & pilot_throttle_checks(report));
 }
 
 bool AP_Arming_Rover::arm_checks(AP_Arming::Method method)
@@ -188,6 +189,19 @@ bool AP_Arming_Rover::parameter_checks(bool report)
     return true;
 }
 
+// check throttle is above failsafe throttle
+bool AP_Arming_Rover::pilot_throttle_checks(bool report)
+{
+    if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) {
+        if (rover.g.fs_throttle_enabled != FS_THR_DISABLED && rover.channel_throttle->get_radio_in() < rover.g.fs_throttle_value) {
+            check_failed(ARMING_CHECK_RC, report, "Throttle below failsafe");
+            return false;
+        }
+    }
+
+    return true;
+}
+
 // check if arming allowed from this mode
 bool AP_Arming_Rover::mode_checks(bool report)
 {
diff --git a/Rover/AP_Arming.h b/Rover/AP_Arming.h
index 5925f1fdb1..94281ecec0 100644
--- a/Rover/AP_Arming.h
+++ b/Rover/AP_Arming.h
@@ -32,5 +32,6 @@ protected:
     bool parameter_checks(bool report);
     bool mode_checks(bool report);
     bool motor_checks(bool report);
+    bool pilot_throttle_checks(bool report);
 
 };