diff --git a/UAV-ControlSystem/src/drivers/motormix.c b/UAV-ControlSystem/src/drivers/motormix.c
index 4179c9a..3bf211f 100644
--- a/UAV-ControlSystem/src/drivers/motormix.c
+++ b/UAV-ControlSystem/src/drivers/motormix.c
@@ -47,7 +47,7 @@ uint16_t motor_output[MOTOR_COUNT];
 mixerConfig_s mixerConfig = {
 	.minThrottle = 1050,
 	.maxThrottle = MAX_PULSE - 100,
-	.minCommand = 1000,
+	.minCommand = 990,
 	.maxCommand = MAX_PULSE,
 	.minCheck = 1010,
 	.pid_at_min_throttle = true,
diff --git a/UAV-ControlSystem/src/drivers/motors.c b/UAV-ControlSystem/src/drivers/motors.c
index b2a83d9..53bb569 100644
--- a/UAV-ControlSystem/src/drivers/motors.c
+++ b/UAV-ControlSystem/src/drivers/motors.c
@@ -248,7 +248,7 @@ void calibrateMotors()
 		pwmActivateAllMotors();
 
 		//First set the motor output to the maximum allowed throttle
-		for (uint8_t i = 1; i < 11; i++ ) pwmAdjustSpeedOfMotor(i,MotorPWMPeriode);
+		for (uint8_t i = 1; i < 11; i++ ) pwmAdjustSpeedOfMotor(i,MAX_PULSE);
 
 		//wait for a little while
 		HAL_Delay(6200);