diff --git a/ArduSub/mode_manual.cpp b/ArduSub/mode_manual.cpp
index a1d235e044..169ec547d7 100644
--- a/ArduSub/mode_manual.cpp
+++ b/ArduSub/mode_manual.cpp
@@ -29,7 +29,7 @@ void ModeManual::run()
     sub.motors.set_roll(channel_roll->norm_input());
     sub.motors.set_pitch(channel_pitch->norm_input());
     sub.motors.set_yaw(channel_yaw->norm_input() * g.acro_yaw_p / ACRO_YAW_P);
-    sub.motors.set_throttle(channel_throttle->norm_input());
+    sub.motors.set_throttle((channel_throttle->norm_input() + 1.0f) / 2.0f);
     sub.motors.set_forward(channel_forward->norm_input());
     sub.motors.set_lateral(channel_lateral->norm_input());
 }
diff --git a/ArduSub/mode_stabilize.cpp b/ArduSub/mode_stabilize.cpp
index 29b8c8fcba..7eb7b39f89 100644
--- a/ArduSub/mode_stabilize.cpp
+++ b/ArduSub/mode_stabilize.cpp
@@ -60,7 +60,7 @@ void ModeStabilize::run()
     }
 
     // output pilot's throttle
-    attitude_control->set_throttle_out(channel_throttle->norm_input(), false, g.throttle_filt);
+    attitude_control->set_throttle_out((channel_throttle->norm_input() + 1.0f) / 2.0f, false, g.throttle_filt);
 
     //control_in is range -1000-1000
     //radio_in is raw pwm value