diff --git a/libraries/AP_Motors/AP_Motors_Class.cpp b/libraries/AP_Motors/AP_Motors_Class.cpp
index 5924ee44e314e5cdb0995978c3c8a0a4b5a17201..f19e4b7c694dee4b3d357f2e1d203868f71af9fd 100644
--- a/libraries/AP_Motors/AP_Motors_Class.cpp
+++ b/libraries/AP_Motors/AP_Motors_Class.cpp
@@ -48,9 +48,9 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
     
     // @Param: SPIN_ARMED
     // @DisplayName: Motors always spin when armed
-    // @Description: Controls whether motors always spin when armed
-    // @Values: 0:Do Not Spin,70:Slow,100:Medium,130:Fast
-    AP_GROUPINFO("SPIN_ARMED", 4, AP_Motors, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED),
+    // @Description: Controls whether motors always spin when armed (must be below THR_MIN)
+    // @Values: 0:Do Not Spin,70:VerySlow,100:Slow,130:Medium,150:Fast
+    AP_GROUPINFO("SPIN_ARMED", 5, AP_Motors, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED),
 
     AP_GROUPEND
 };
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index e7c2d030d81ef95b0c83865b7a4d284efcbc7b9c..1a2bcd8843ab6222109f8ee3873870bdd8092170 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -46,7 +46,7 @@
 #define THROTTLE_CURVE_MID_THRUST   52  // throttle which produces 1/2 the maximum thrust.  expressed as a percentage of the full throttle range (i.e 0 ~ 100)
 #define THROTTLE_CURVE_MAX_THRUST   93  // throttle which produces the maximum thrust.  expressed as a percentage of the full throttle range (i.e 0 ~ 100)
 
-#define AP_MOTORS_SPIN_WHEN_ARMED   70  // spin motors at this PWM value when armed
+#define AP_MOTORS_SPIN_WHEN_ARMED   100 // spin motors at this PWM value when armed
 
 // bit mask for recording which limits we have reached when outputting to motors
 #define AP_MOTOR_NO_LIMITS_REACHED  0x00
@@ -157,7 +157,7 @@ protected:
     AP_Int8             _throttle_curve_enabled;        // enable throttle curve
     AP_Int8             _throttle_curve_mid;    // throttle which produces 1/2 the maximum thrust.  expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
     AP_Int8             _throttle_curve_max;    // throttle which produces the maximum thrust.  expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
-    AP_Int8             _spin_when_armed;       // used to control whether the motors always spin when armed.  pwm value above radio_min 
+    AP_Int16            _spin_when_armed;       // used to control whether the motors always spin when armed.  pwm value above radio_min 
 
     // internal variables
     RC_Channel*         _rc_roll, *_rc_pitch, *_rc_throttle, *_rc_yaw;  // input in from users