diff --git a/UAV-ControlSystem/src/Flight/pid.c b/UAV-ControlSystem/src/Flight/pid.c
index 471b1db..ad5a3ee 100644
--- a/UAV-ControlSystem/src/Flight/pid.c
+++ b/UAV-ControlSystem/src/Flight/pid.c
@@ -20,6 +20,7 @@
 #include "drivers/failsafe_toggles.h"
 #include "drivers/motormix.h"
 #include "utilities.h"
+#include "drivers/barometer.h"
 
 
 #define PTERM_SCALE 0.032029f										/*P-term used as a scale value to the PID controller*/
@@ -112,7 +113,7 @@ void getCurrentValues(float sensorValues[3], uint8_t ID_profile)
 		break;
 	case PID_ID_BAROMETER:
 
-		sensorValues[0] = barometer_GetCurrentAveragedtAltitude();
+		sensorValues[0] =  barometer_GetCurrentAveragedtAltitude()*20;
 		break;
 	default:
 
@@ -173,7 +174,7 @@ void getPointRate(float *desiredCommand, uint8_t ID_profile)
 
 		//desiredCommand[THROTTLE] = convertData(RADIO_RANGE, BAROMETER_RANGE, 0, rc_input.Throttle*throttleRate);
 
-		desiredCommand[THROTTLE] = 1.9;
+		desiredCommand[THROTTLE] = 1*20;
 
 		break;
 	default:
@@ -496,7 +497,7 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
 
 		PidProfile[ID].pidEnabled = false;
 		PidProfile[ID].dterm_lpf = 90;
-		PidProfile[ID].pid_out_limit = 1000;
+		PidProfile[ID].pid_out_limit = 2000;
 
 		break;
 	default:
@@ -527,7 +528,7 @@ void pidInit()
 
 void pidEproom(void)
 {
-	PidProfile[PID_ID_BAROMETER].PIDweight[ROLL] = 200;
+	PidProfile[PID_ID_BAROMETER].PIDweight[ROLL] = 254;
 
 	PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100;
 
diff --git a/UAV-ControlSystem/src/drivers/barometer.c b/UAV-ControlSystem/src/drivers/barometer.c
index 3074445..72ecfd2 100644
--- a/UAV-ControlSystem/src/drivers/barometer.c
+++ b/UAV-ControlSystem/src/drivers/barometer.c
@@ -512,7 +512,8 @@ float barometer_GetCurrentAveragedtAltitude()
 	}
 
 	/* Return the average of the stored values */
-	return toReturn/averageAltitudeCount;
+	toReturn = toReturn/averageAltitudeCount;
+	return toReturn;
 }
 
 
diff --git a/UAV-ControlSystem/src/drivers/motormix.c b/UAV-ControlSystem/src/drivers/motormix.c
index 0def06d..aff2051 100644
--- a/UAV-ControlSystem/src/drivers/motormix.c
+++ b/UAV-ControlSystem/src/drivers/motormix.c
@@ -103,7 +103,12 @@ void mix()
 	int16_t RPY_Mix[MOTOR_COUNT];		// Roll Pitch and Yaw variables array
 	int16_t RPY_Mix_Min = 0; 			// Stores the minimum desired command for any motor
 	int16_t RPY_Mix_Max = 0;			// Maximum desired command for any motor
-	int16_t throttle = PidProfile[PID_ID_BAROMETER].PID_Out[THROTTLE];	 // Import throttle value from remote
+	int16_t throttle = PidProfile[PID_ID_BAROMETER].PID_Out[THROTTLE];
+
+	if (PidProfile[PID_ID_BAROMETER].pidEnabled && flags_IsSet_ID(systemFlags_flightmode_barometer_id))
+	{
+		throttle += 1482;
+	}
 
 
 	/* Mixer Full Scale enabled */