diff --git a/UAV-ControlSystem/src/Flight/pid.c b/UAV-ControlSystem/src/Flight/pid.c
index 4acc068..d256c48 100644
--- a/UAV-ControlSystem/src/Flight/pid.c
+++ b/UAV-ControlSystem/src/Flight/pid.c
@@ -26,6 +26,7 @@
 #define PTERM_SCALE 0.032029f										/*P-term used as a scale value to the PID controller*/
 #define ITERM_SCALE 0.0012f											/*I-term used as a scale value to the PID controller*/
 #define DTERM_SCALE 0.000529f										/*D-term used as a scale value to the PID controller*/
+#define BAROMETER_SCALE 20
 
 #define RADIO_RANGE 500												/*Radio range input*/
 #define BAROMETER_RANGE 3											/*Determines the range of the maximum height (limits the rc input)*/
@@ -113,7 +114,7 @@ void getCurrentValues(float sensorValues[3], uint8_t ID_profile)
 		break;
 	case PID_ID_BAROMETER:
 
-		sensorValues[0] =  barometer_GetCurrentAveragedtAltitude()*20;
+		sensorValues[0] =  barometer_GetCurrentAveragedtAltitude()*BAROMETER_SCALE;
 		break;
 	default:
 
@@ -174,7 +175,7 @@ void getPointRate(float *desiredCommand, uint8_t ID_profile)
 
 		//desiredCommand[THROTTLE] = convertData(RADIO_RANGE, BAROMETER_RANGE, 0, rc_input.Throttle*throttleRate);
 
-		desiredCommand[THROTTLE] = 3*20;
+		desiredCommand[THROTTLE] = 1*BAROMETER_SCALE;
 
 		break;
 	default:
diff --git a/UAV-ControlSystem/src/drivers/motormix.c b/UAV-ControlSystem/src/drivers/motormix.c
index aff2051..88a1778 100644
--- a/UAV-ControlSystem/src/drivers/motormix.c
+++ b/UAV-ControlSystem/src/drivers/motormix.c
@@ -105,11 +105,7 @@ void mix()
 	int16_t RPY_Mix_Max = 0;			// Maximum desired command for any motor
 	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;
-	}
-
+	if (PidProfile[PID_ID_BAROMETER].pidEnabled && flags_IsSet_ID(systemFlags_flightmode_barometer_id)) throttle += 1482;
 
 	/* Mixer Full Scale enabled */
 	if (flags_IsSet_ID(systemFlags_mixerfullscale_id))