diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index bbe8835318..65da6fddb3 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -261,7 +261,7 @@ void AP_MotorsHeli::output_disarmed()
                 // fixate mid collective
                 _roll_in = 0.0f;
                 _pitch_in = 0.0f;
-                _throttle_filter.reset(_collective_mid_pwm / 1000.0f);
+                _throttle_filter.reset(_collective_mid_pct);
                 _yaw_in = 0.0f;
                 break;
             case SERVO_CONTROL_MODE_MANUAL_MAX:
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index 29d1b113e2..42198d475d 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -206,6 +206,6 @@ protected:
     float           _rollFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
     float           _pitchFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
     float           _collectiveFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
-    int16_t         _collective_mid_pwm = 0;         // collective mid parameter value converted to pwm form (i.e. 0 ~ 1000)
+    float           _collective_mid_pct = 0.0f;      // collective mid parameter value converted to 0 ~ 1 range
     uint8_t         _servo_test_cycle_counter = 0;   // number of test cycles left to run after bootup
 };