diff --git a/UAV-ControlSystem/inc/utilities.h b/UAV-ControlSystem/inc/utilities.h
index 26fdf58..446ddea 100644
--- a/UAV-ControlSystem/inc/utilities.h
+++ b/UAV-ControlSystem/inc/utilities.h
@@ -83,6 +83,6 @@ void Error_Handler(void);
 
 uint8_t reverse(uint8_t byte);
 
-uint16_t constrain(uint16_t value, uint16_t min, uint16_t max);
+int16_t constrain(int16_t value, int16_t min, int16_t max);
 
 #endif /* UTILITIES_H_ */
diff --git a/UAV-ControlSystem/src/drivers/motormix.c b/UAV-ControlSystem/src/drivers/motormix.c
index ea8dd04..22624cf 100644
--- a/UAV-ControlSystem/src/drivers/motormix.c
+++ b/UAV-ControlSystem/src/drivers/motormix.c
@@ -199,14 +199,16 @@ 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))
 		{
+			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];
+
 			uint16_t RPY_Mix_Min_Overshoot = (RPY_Mix_Min < mixerConfig.minThrottle) ? mixerConfig.minThrottle - RPY_Mix_Min : 0;
 
 			if (RPY_Mix_Min_Overshoot > 0 ) //|| RPY_Mix_Max_Overshoot > 0)
@@ -221,10 +223,11 @@ void mix()
 				for (int i = 0; i < MOTOR_COUNT; i++)
 					RPY_Mix[i] = (((float)(RPY_Mix[i] - throttle)) * (1 - mix_scale_reduction)) + throttle;
 			}
+			/* Recalculating RPY_Mix_Min */
+			RPY_Mix_Min = throttleMid;
 		}
 
-		/* Recalculating RPY_Mix_Min */
-		RPY_Mix_Min = throttleMid;
+
 
 		for (int i = 0; i < MOTOR_COUNT; i++)
 		{
diff --git a/UAV-ControlSystem/src/utilities.c b/UAV-ControlSystem/src/utilities.c
index 2e22185..7c2192c 100644
--- a/UAV-ControlSystem/src/utilities.c
+++ b/UAV-ControlSystem/src/utilities.c
@@ -219,7 +219,7 @@ uint8_t reverse(uint8_t byte)
 	return byte;
 }
 
-uint16_t constrain(uint16_t value, uint16_t min, uint16_t max)
+int16_t constrain(int16_t value, int16_t min, int16_t max)
 {
 	if (value < min)
 		return min;