diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 7d0a56e6e4..a96f2f1e05 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -389,10 +389,18 @@ static bool pre_arm_gps_checks()
 static bool arm_checks(bool display_failure)
 {
     // succeed if arming checks are disabled
-    if(!g.arming_check_enabled) {
+    if (!g.arming_check_enabled) {
         return true;
     }
 
+    // check throttle is above failsafe throttle
+    if (g.failsafe_throttle != FS_THR_DISABLED && g.rc_3.radio_in < g.failsafe_throttle_value) {
+        if (display_failure) {
+            gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Thr below FS"));
+        }
+        return false;
+    }
+
     // check gps is ok if required - note this same check is also done in pre-arm checks
     if (mode_requires_GPS(control_mode) && !pre_arm_gps_checks()) {
         if (display_failure) {