diff --git a/UAV-ControlSystem/src/drivers/accel_gyro.c b/UAV-ControlSystem/src/drivers/accel_gyro.c
index dae9b97..bc019df 100644
--- a/UAV-ControlSystem/src/drivers/accel_gyro.c
+++ b/UAV-ControlSystem/src/drivers/accel_gyro.c
@@ -246,6 +246,8 @@ bool mpu6000_init(gyro_t* gyro, accel_t* accel)
 
 	HAL_Delay(60);
 
+	accel->pitchAngle = 0;
+	accel->rollAngle = 0;
 
 	return true;
 }
diff --git a/UAV-ControlSystem/src/drivers/motors.c b/UAV-ControlSystem/src/drivers/motors.c
index 53bb569..1a44d5c 100644
--- a/UAV-ControlSystem/src/drivers/motors.c
+++ b/UAV-ControlSystem/src/drivers/motors.c
@@ -14,6 +14,7 @@
 #include "drivers/motors.h"
 #include "drivers/failsafe_toggles.h"
 #include "config/eeprom.h"
+#include "drivers/motormix.h"
 
 const int MotorPWMPeriode = 2000; //Micro seconds
 const int MotorPWMInitPulse = 1000;
@@ -162,7 +163,11 @@ void pwmEnableMotor(uint8_t motor, motorOutput motorOutput)
 **************************************************************************/
 void pwmEnableAllMotors(motorOutput motorOutput)
 {
-	 for (uint8_t i = 1; i < 11; i++ ) pwmEnableMotor(i, motorOutput);
+	 for (uint8_t i = 1; i < 11; i++ )
+	 {
+		 pwmEnableMotor(i, motorOutput);
+		 pwmAdjustSpeedOfMotor(i,mixerConfig.minCommand);
+	 }
 }
 
 /**************************************************************************