diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 4daefa0fa0..3735448fe0 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -151,8 +151,8 @@ static int16_t get_pilot_desired_throttle(int16_t throttle_control)
 // get_pilot_desired_climb_rate - transform pilot's throttle input to
 // climb rate in cm/s.  we use radio_in instead of control_in to get the full range
 // without any deadzone at the bottom
-#define THROTTLE_IN_DEADBAND_TOP (THROTTLE_IN_MIDDLE+THROTTLE_IN_DEADBAND)  // top of the deadband
-#define THROTTLE_IN_DEADBAND_BOTTOM (THROTTLE_IN_MIDDLE-THROTTLE_IN_DEADBAND)  // bottom of the deadband
+#define THROTTLE_IN_DEADBAND_TOP (THROTTLE_IN_MIDDLE+g.throttle_deadzone)  // top of the deadband
+#define THROTTLE_IN_DEADBAND_BOTTOM (THROTTLE_IN_MIDDLE-g.throttle_deadzone)  // bottom of the deadband
 static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
 {
     int16_t desired_rate = 0;
@@ -168,10 +168,10 @@ static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
     // check throttle is above, below or in the deadband
     if (throttle_control < THROTTLE_IN_DEADBAND_BOTTOM) {
         // below the deadband
-        desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_BOTTOM) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
+        desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_BOTTOM) / (THROTTLE_IN_MIDDLE - g.throttle_deadzone);
     }else if (throttle_control > THROTTLE_IN_DEADBAND_TOP) {
         // above the deadband
-        desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_TOP) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
+        desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_TOP) / (THROTTLE_IN_MIDDLE - g.throttle_deadzone);
     }else{
         // must be in the deadband
         desired_rate = 0;
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 72c6899142..b1fe5e4df7 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -119,7 +119,8 @@ public:
         k_param_sonar, // sonar object
         k_param_ekfcheck_thresh,
         k_param_terrain,
-        k_param_acro_expo,              // 56
+        k_param_acro_expo,
+        k_param_throttle_deadzone,      // 57
 
         // 65: AP_Limits Library
         k_param_limits = 65,            // deprecated - remove
@@ -365,6 +366,7 @@ public:
     AP_Int16        failsafe_throttle_value;
     AP_Int16        throttle_cruise;
     AP_Int16        throttle_mid;
+    AP_Int16        throttle_deadzone;
 
     // Flight modes
     //
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 96522ae61a..09a0e99d64 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -295,6 +295,15 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Increment: 1
     GSCALAR(throttle_mid,        "THR_MID",    THR_MID_DEFAULT),
 
+    // @Param: THR_DZ
+    // @DisplayName: Throttle deadzone
+    // @Description: The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes
+    // @User: Standard
+    // @Range: 0 300
+    // @Units: pwm
+    // @Increment: 1
+    GSCALAR(throttle_deadzone,  "THR_DZ",    THR_DZ_DEFAULT),
+
     // @Param: FLTMODE1
     // @DisplayName: Flight Mode 1
     // @Description: Flight mode when Channel 5 pwm is <= 1230
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index b5d446995c..f5910a3a69 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -659,8 +659,8 @@
  # define THR_MAX_DEFAULT       1000            // maximum throttle sent to the motors
 #endif
 
-#ifndef THROTTLE_IN_DEADBAND
-# define THROTTLE_IN_DEADBAND    100            // the throttle input channel's deadband in PWM
+#ifndef THR_DZ_DEFAULT
+# define THR_DZ_DEFAULT         100             // the deadzone above and below mid throttle while in althold or loiter
 #endif
 
 #ifndef ALT_HOLD_P