diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index eebb5a23de..8463fa68f2 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/ArduCopter/ArduCopter.cpp
@@ -469,6 +469,8 @@ void Copter::one_hz_loop()
 #if FRAME_CONFIG != HELI_FRAME
         // set all throttle channel settings
         motors.set_throttle_range(g.throttle_min, channel_throttle->radio_min, channel_throttle->radio_max);
+        // set hover throttle
+        motors.set_hover_throttle(g.throttle_mid);
 #endif
     }
 
diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index 99e879c46f..ba09a3d30e 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -201,9 +201,6 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
     ahrs.set_correct_centrifugal(true);
     hal.util->set_soft_armed(true);
 
-    // set hover throttle
-    motors.set_hover_throttle(g.throttle_mid);
-
 #if SPRAYER == ENABLED
     // turn off sprayer's test if on
     sprayer.test_pump(false);
diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index d16dd7e8e8..faa517765c 100644
--- a/ArduCopter/radio.cpp
+++ b/ArduCopter/radio.cpp
@@ -59,6 +59,7 @@ void Copter::init_rc_out()
     motors.Init();                                              // motor initialisation
 #if FRAME_CONFIG != HELI_FRAME
     motors.set_throttle_range(g.throttle_min, channel_throttle->radio_min, channel_throttle->radio_max);
+    motors.set_hover_throttle(g.throttle_mid);
 #endif
 
     for(uint8_t i = 0; i < 5; i++) {