diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index f14f7830f8..e31b050d3f 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -303,6 +303,15 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
     // @Values: 0:Disabled,1:Enabled
     // @User: Standard
     AP_GROUPINFO("GUIDED_MODE", 40, QuadPlane, guided_mode, 0),
+
+    // @Param: THR_MIN
+    // @DisplayName: Throttle Minimum
+    // @Description: The minimum throttle that will be sent to the motors to keep them spinning
+    // @Units: Percent*10
+    // @Range: 0 300
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("THR_MIN", 41, QuadPlane, throttle_min,  100),
     
     AP_GROUPEND
 };
@@ -418,7 +427,7 @@ bool QuadPlane::setup(void)
 
     motors->set_frame_orientation(frame_type);
     motors->Init();
-    motors->set_throttle_range(100, thr_min_pwm, thr_max_pwm);
+    motors->set_throttle_range(throttle_min, thr_min_pwm, thr_max_pwm);
     motors->set_hover_throttle(throttle_mid);
     motors->set_update_rate(rc_speed);
     motors->set_interlock(true);
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 34c3b61256..37b33067d8 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -80,7 +80,7 @@ public:
 
     // return current throttle as a percentate
     uint8_t throttle_percentage(void) const {
-        return last_throttle * 0.1f;
+        return last_throttle * 100;
     }
 
     // return desired forward throttle percentage
@@ -194,6 +194,7 @@ private:
     AP_Int16 thr_min_pwm;
     AP_Int16 thr_max_pwm;
     AP_Int16 throttle_mid;
+    AP_Int16 throttle_min;
 
     // speed below which quad assistance is given
     AP_Float assist_speed;