diff --git a/UAV-ControlSystem/src/drivers/motormix.c b/UAV-ControlSystem/src/drivers/motormix.c
index 3bf211f..ea8dd04 100644
--- a/UAV-ControlSystem/src/drivers/motormix.c
+++ b/UAV-ControlSystem/src/drivers/motormix.c
@@ -199,6 +199,10 @@ void mix()
 					PidProfile[PID_ID_GYRO].PID_Out[YAW]	*	mixerUAV[i].yaw		*	((mixerConfig.yaw_reverse_direction) ? -1 : 1);
 		}
 
+		for (int i = 0; i < MOTOR_COUNT; i++)
+			// Find the minimum and maximum motor output
+			if (RPY_Mix[i] < RPY_Mix_Min) RPY_Mix_Min = RPY_Mix[i];
+
 
 		/* Mixer Low Scale - Scaling output around low throttle */
 		if (flags_IsSet_ID(systemFlags_mixerlowscale_id))
@@ -219,6 +223,9 @@ void mix()
 			}
 		}
 
+		/* Recalculating RPY_Mix_Min */
+		RPY_Mix_Min = throttleMid;
+
 		for (int i = 0; i < MOTOR_COUNT; i++)
 		{
 			// Find the minimum and maximum motor output