diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 1bb750a060..8e643995ac 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -1042,7 +1042,7 @@ private:
     void servos_output(void);
     void servos_auto_trim(void);
     void servos_twin_engine_mix();
-    void throttle_voltage_comp();
+    void throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle);
     void throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle);
     void throttle_slew_limit(SRV_Channel::Aux_servo_function_t func);
     bool suppress_throttle(void);
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 8930bd57b0..419b8f3360 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -345,7 +345,7 @@ void Plane::set_servos_manual_passthrough(void)
 /*
   Scale the throttle to conpensate for battery voltage drop
  */
-void Plane::throttle_voltage_comp()
+void Plane::throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle)
 {
     // return if not enabled, or setup incorrectly
     if (g2.fwd_thr_batt_voltage_min >= g2.fwd_thr_batt_voltage_max || !is_positive(g2.fwd_thr_batt_voltage_max)) {
@@ -370,6 +370,10 @@ void Plane::throttle_voltage_comp()
     // Ratio = 1 when voltage = voltage max, ratio increases as voltage drops
     const float ratio = g2.fwd_thr_batt_voltage_max / batt_voltage_resting_estimate;
 
+    // Scale the throttle limits to prevent subsequent clipping
+    min_throttle = MAX((int8_t)(ratio * (float)min_throttle), -100);
+    max_throttle = MIN((int8_t)(ratio * (float)max_throttle),  100);
+
     SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,
                                         constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * ratio, -100, 100));
 }
@@ -455,7 +459,7 @@ void Plane::set_servos_controlled(void)
     }
 
     // conpensate for battery voltage drop
-    throttle_voltage_comp();
+    throttle_voltage_comp(min_throttle, max_throttle);
 
     // apply watt limiter
     throttle_watt_limiter(min_throttle, max_throttle);