diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index b6d5dd9587..6408a4db84 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1012,6 +1012,9 @@ static void throttle_loop()
     // check if we've landed
     update_land_detector();
 
+    // update throttle_low_comp value (controls priority of throttle vs attitude control)
+    update_throttle_low_comp();
+
     // check auto_armed status
     update_auto_armed();
 
diff --git a/ArduCopter/land_detector.pde b/ArduCopter/land_detector.pde
index 461737dd01..20544864a6 100644
--- a/ArduCopter/land_detector.pde
+++ b/ArduCopter/land_detector.pde
@@ -41,3 +41,27 @@ static void update_land_detector()
     // set land maybe flag
     set_land_complete_maybe(land_detector >= LAND_DETECTOR_MAYBE_TRIGGER);
 }
+
+// update_throttle_low_comp - sets motors throttle_low_comp value depending upon vehicle state
+//  low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle
+//  has no effect when throttle is above hover throttle
+static void update_throttle_low_comp()
+{
+    // manual throttle
+    if (mode_has_manual_throttle(control_mode)) {
+        if(!motors.armed() || g.rc_3.control_in <= 0) {
+            motors.set_throttle_low_comp(0.1f);
+        } else {
+            motors.set_throttle_low_comp(0.5f);
+        }
+    } else {
+        // autopilot controlled throttle
+        const Vector3f angle_target = attitude_control.angle_ef_targets();
+        if (pythagorous2(angle_target.x, angle_target.y) > 1500.0f) {
+            // if target lean angle is over 15 degrees set high
+            motors.set_throttle_low_comp(0.9f);
+        } else {
+            motors.set_throttle_low_comp(0.1f);
+        }
+    }
+}