diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index a38289b448..f3d9d93f5f 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -174,6 +174,16 @@ bool AP_Arming_Plane::quadplane_checks(bool display_failure)
         }
     }
 
+    /*
+      Q_ASSIST_SPEED really should be enabled for all quadplanes except tailsitters
+     */
+    if (check_enabled(ARMING_CHECK_PARAMETERS) &&
+        is_zero(plane.quadplane.assist_speed) &&
+        !plane.quadplane.tailsitter.enabled()) {
+        check_failed(display_failure,"Q_ASSIST_SPEED is not set");
+        ret = false;
+    }
+
     return ret;
 }
 #endif // HAL_QUADPLANE_ENABLED
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index ff1dfe1a8b..5dc9a7d865 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -103,7 +103,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
 
     // @Param: ASSIST_SPEED
     // @DisplayName: Quadplane assistance speed
-    // @Description: This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. Zero means no assistance except during transition
+    // @Description: This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. Zero means no assistance except during transition. Note that if this is set to zero then other Q_ASSIST features are also disabled. A higher value will lead to more false positives which can waste battery. A lower value will result in less false positive, but will result in assistance taking longer to trigger. If unsure then set to 3 m/s below the minimum airspeed you will fly at. If you don't have an airspeed sensor then use 5 m/s below the minimum airspeed you fly at. If you want to disable the arming check Q_ASSIST_SPEED then set to -1.
     // @Units: m/s
     // @Range: 0 100
     // @Increment: 0.1