diff --git a/ArduPlane/afs_plane.cpp b/ArduPlane/afs_plane.cpp
index a746649b9a..548e7e7b37 100644
--- a/ArduPlane/afs_plane.cpp
+++ b/ArduPlane/afs_plane.cpp
@@ -26,9 +26,17 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
         SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, SERVO_MAX);
         SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, SERVO_MAX);
         SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, SERVO_MAX);
-        SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
-        SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
-        SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
+        if (plane.aparm.throttle_min < 0) {
+            // configured for reverse thrust, use TRIM
+            SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+            SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+            SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+        } else {
+            // use MIN
+            SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
+            SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
+            SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
+        }
         SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
         SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
     }
@@ -49,9 +57,17 @@ void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
     SRV_Channels::set_failsafe_limit(SRV_Channel::k_aileron, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
     SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
     SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
-    SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
-    SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
-    SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
+    if (plane.aparm.throttle_min < 0) {
+        // configured for reverse thrust, use TRIM
+        SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+        SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+        SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+    } else {
+        // normal throttle, use MIN
+        SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
+        SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
+        SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
+    }
     SRV_Channels::set_failsafe_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
     SRV_Channels::set_failsafe_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
 
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 3fde152596..45a7348ec8 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -491,6 +491,11 @@ void Plane::servos_twin_engine_mix(void)
     float rud_gain = float(plane.g2.rudd_dt_gain) / 100;
     float rudder = rud_gain * SRV_Channels::get_output_scaled(SRV_Channel::k_rudder) / float(SERVO_MAX);
 
+    if (afs.should_crash_vehicle()) {
+        // when in AFS failsafe force rudder input for differential thrust to zero
+        rudder = 0;
+    }
+
     float throttle_left, throttle_right;
 
     if (throttle < 0 && aparm.throttle_min < 0) {