diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 0a52e3f6d6..a9274a7187 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -202,6 +202,26 @@ void AP_MotorsMatrix::output_armed()
             limit.throttle_lower = true;
         }
 
+        // limit throttle if over current
+        if(_batt_current_max > 0){
+            if(_batt_current > _batt_current_max*1.25f){
+                // Fast drop for extreme over current (1 second)
+                _throttle_limit -= 1.0f/_speed_hz;
+            }else if(_batt_current > _batt_current_max){
+                // Slow drop for extreme over current (2 second)
+                _throttle_limit -= 0.5f/_speed_hz;
+            }else{
+                // Increase throttle limit (2 second)
+                _throttle_limit += 0.5f/_speed_hz;
+            }
+        } else {
+            _throttle_limit = 1.0f;
+        }
+        // throttle limit drops to 20% between hover and full throttle
+        _throttle_limit = constrain_float(_throttle_limit, 0.2f, 1.0f);
+
+        int16_t throttle_radio_out = min(_rc_throttle.radio_out, (_hover_out + (out_max_pwm-_hover_out)*_throttle_limit));
+
         // calculate battery resistance
         if (_batt_timer < 400 && _rc_throttle.radio_out >= _hover_out && ((_batt_current_resting*2.0f) < _batt_current)) {
             // filter reaches 90% in 1/4 the test time
@@ -237,7 +257,7 @@ 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*max(0,1.0f-_throttle_low_comp)+_hover_out*_throttle_low_comp));
+        out_best_thr_pwm = min(out_mid_pwm - motor_mid, max(throttle_radio_out, 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
@@ -281,7 +301,7 @@ void AP_MotorsMatrix::output_armed()
         }
 
         // check everything fits
-        thr_adj = _rc_throttle.radio_out - out_best_thr_pwm;
+        thr_adj = throttle_radio_out - out_best_thr_pwm;
 
         // calc upper and lower limits of thr_adj
         int16_t thr_adj_max = max(out_max_pwm-(out_best_thr_pwm+rpy_high),0);
diff --git a/libraries/AP_Motors/AP_Motors_Class.cpp b/libraries/AP_Motors/AP_Motors_Class.cpp
index c1ac57761c..23065efe14 100644
--- a/libraries/AP_Motors/AP_Motors_Class.cpp
+++ b/libraries/AP_Motors/AP_Motors_Class.cpp
@@ -114,6 +114,14 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
     // @User: Advanced
     AP_GROUPINFO("THST_BAT_MIN", 11, AP_Motors, _batt_voltage_min, AP_MOTORS_THST_BAT_MIN_DEFAULT),
 
+    // @Param: CURR_MAX
+    // @DisplayName: Motor Current Max
+    // @Description: Maximum current over which maximum throttle is limited (0 = Disabled)
+    // @Range: 0 200
+    // @Units: Amps
+    // @User: Advanced
+    AP_GROUPINFO("CURR_MAX", 12, AP_Motors, _batt_current_max, AP_MOTORS_CURR_MAX_DEFAULT),
+
     AP_GROUPEND
 };
 
@@ -135,7 +143,8 @@ AP_Motors::AP_Motors( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_
     _batt_current_resting(0.0f),
     _batt_resistance(0.0f),
     _batt_timer(0),
-    _lift_max(1.0f)
+    _lift_max(1.0f),
+    _throttle_limit(1.0f)
 {
     AP_Param::setup_object_defaults(this, var_info);
 
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index d965865962..85455b1950 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -61,6 +61,7 @@
 #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
 #define AP_MOTORS_THST_BAT_MIN_DEFAULT  0.0f
+#define AP_MOTORS_CURR_MAX_DEFAULT      0.0f    // current limiting max default
 
 // bit mask for recording which limits we have reached when outputting to motors
 #define AP_MOTOR_NO_LIMITS_REACHED  0x00
@@ -203,6 +204,7 @@ protected:
     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
     AP_Float            _batt_voltage_min;      // minimum voltage used to scale lift
+    AP_Float            _batt_current_max;      // current over which maximum throttle is limited
 
     // internal variables
     RC_Channel&         _rc_roll;               // roll input in from users is held in servo_out
@@ -224,5 +226,6 @@ protected:
     float               _batt_resistance;       // battery's resistance calculated by comparing resting voltage vs in flight voltage
     int16_t             _batt_timer;            // timer used in battery resistance calcs
     float               _lift_max;              // maximum lift ratio from battery voltage
+    float               _throttle_limit;        // ratio of throttle limit between hover and maximum
 };
 #endif  // __AP_MOTORS_CLASS_H__