diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp
index b8856fb357..c2d455050c 100644
--- a/src/modules/uavcan/actuators/esc.cpp
+++ b/src/modules/uavcan/actuators/esc.cpp
@@ -39,6 +39,7 @@
 
 #include "esc.hpp"
 #include <systemlib/err.h>
+#include <algorithm>
 
 
 #define MOTOR_BIT(x) (1<<(x))
@@ -110,20 +111,14 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 	uavcan::equipment::esc::RawCommand msg;
 
 	static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
+	const float cmd_min = _run_at_idle_throttle_when_armed ? 1.0F : 0.0F;
 
 	for (unsigned i = 0; i < num_outputs; i++) {
 		if (_armed_mask & MOTOR_BIT(i)) {
 			float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max;
 
-			// trim negative values back to 0. Previously
-			// we set this to 0.1, which meant motors kept
-			// spinning when armed, but that should be a
-			// policy decision for a specific vehicle
-			// type, as it is not appropriate for all
-			// types of vehicles (eg. fixed wing).
-			if (scaled < 0.0F) {
-				scaled = 0.0F;
-			}
+			// trim negative values back to minimum
+			scaled = std::max(cmd_min, scaled);
 
 			if (scaled > cmd_max) {
 				scaled = cmd_max;
diff --git a/src/modules/uavcan/actuators/esc.hpp b/src/modules/uavcan/actuators/esc.hpp
index 2cbc23ec9d..40b151e308 100644
--- a/src/modules/uavcan/actuators/esc.hpp
+++ b/src/modules/uavcan/actuators/esc.hpp
@@ -64,6 +64,8 @@ public:
 	void arm_all_escs(bool arm);
 	void arm_single_esc(int num, bool arm);
 
+	void enable_idle_throttle_when_armed(bool value) { _run_at_idle_throttle_when_armed = value; }
+
 private:
 	/**
 	 * ESC status message reception will be reported via this callback.
@@ -88,6 +90,7 @@ private:
 	TimerCbBinder;
 
 	bool		_armed = false;
+	bool		_run_at_idle_throttle_when_armed = false;
 	esc_status_s	_esc_status = {};
 	orb_advert_t	_esc_status_pub = nullptr;
 
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index d7c3455157..d245c2fb3a 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -660,6 +660,12 @@ int UavcanNode::init(uavcan::NodeID node_id)
 		return ret;
 	}
 
+	{
+		std::int32_t idle_throttle_when_armed = 0;
+		(void) param_get(param_find("UAVCAN_ESC_IDLT"), &idle_throttle_when_armed);
+		_esc_controller.enable_idle_throttle_when_armed(idle_throttle_when_armed > 0);
+	}
+
 	ret = _hardpoint_controller.init();
 
 	if (ret < 0) {
diff --git a/src/modules/uavcan/uavcan_params.c b/src/modules/uavcan/uavcan_params.c
index 2196a5fb30..e24a5a1f6b 100644
--- a/src/modules/uavcan/uavcan_params.c
+++ b/src/modules/uavcan/uavcan_params.c
@@ -76,3 +76,12 @@ PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1);
  * @group UAVCAN
  */
 PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);
+
+/**
+ * UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints.
+ *
+ * @min 0
+ * @max 1
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_ESC_IDLT, 0);