diff --git a/UAV-ControlSystem/src/drivers/motors.c b/UAV-ControlSystem/src/drivers/motors.c
index 4e84c15..8bf89a3 100644
--- a/UAV-ControlSystem/src/drivers/motors.c
+++ b/UAV-ControlSystem/src/drivers/motors.c
@@ -13,7 +13,7 @@
 #include "drivers/pwm.h"
 #include "drivers/motors.h"
 
-#define MOTOR_PWM_INIT_PERIODE		65535
+#define MOTOR_PWM_INIT_PERIODE		2000
 #define MOTOR_PWM_INIT_PULSE		MOTOR_PWM_INIT_PERIODE/2
 
 /* A struct of a pwm motor profile */
@@ -25,6 +25,16 @@ typedef struct
 	uint32_t channel;		//TIM_CHANNEL_1/TIM_CHANNEL_1/..
 }motorProfile;
 
+/**************************************************************************
+* BRIEF: Returns the final pulse of a motor driver call
+* INFORMATION: The pulse is not allowed to be higher then 94 % of the total periode of the pwm signal, otherwise the pwm won't perform correctly
+* Example - pwmEnableMotor(MOTOR_1)
+**************************************************************************/
+uint16_t checkPulse(uint16_t pulse)
+{
+	return ((pulse/MOTOR_PWM_INIT_PERIODE)*100 < 94)? pulse: MOTOR_PWM_INIT_PERIODE*0.94;
+}
+
 /**************************************************************************
 * BRIEF: Returns a profile of a certain motor
 * INFORMATION: Each Motor has a certain profile which includes a pin, port, timer and a timer channel
@@ -152,7 +162,6 @@ void pwmDeactivateMotor(uint8_t motor)
 /**************************************************************************
 * BRIEF: Activates all motors (Activates a pwm signal to all motor pins to it's last state)*                                                             *
 * INFORMATION:																			   *
-* Example - pwmActivateAllMotors()                                                         *
 **************************************************************************/
 void pwmActivateAllMotors(void)
 {
@@ -178,7 +187,7 @@ void pwmAdjustSpeedOfMotor(uint8_t motor, uint16_t pulse)
 {
 	motorProfile profile = getMotorProfile(motor);
 
-	setPwmPulse(profile.channel, profile.tim, pulse);
+	setPwmPulse(profile.channel, profile.tim, checkPulse(pulse));
 }
 
 /**************************************************************************
@@ -191,5 +200,5 @@ void pwmAdjustSpeedOfMotorDutyCycle(uint8_t motor, uint16_t DutyCycle)
 	uint16_t pulse = (DutyCycle*MOTOR_PWM_INIT_PERIODE)/100; /* Converts the DutyCycle to a pulse */
 	motorProfile profile = getMotorProfile(motor);
 
-	setPwmPulse(profile.channel, profile.tim, pulse);
+	setPwmPulse(profile.channel, profile.tim, checkPulse(pulse));
 }
diff --git a/UAV-ControlSystem/src/drivers/pwm.c b/UAV-ControlSystem/src/drivers/pwm.c
index 33c7efa..761770f 100644
--- a/UAV-ControlSystem/src/drivers/pwm.c
+++ b/UAV-ControlSystem/src/drivers/pwm.c
@@ -81,10 +81,9 @@ void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Chan
 
 		TIM_HandleTypeDef TimHandle;
 
-		uint32_t uwPrescalerValue =2;
 		TimHandle.Instance = profile.tim; /* Sets timer */
 		TimHandle.Init.Period = period; /* Sets period of pwm */
-		TimHandle.Init.Prescaler = uwPrescalerValue;
+		TimHandle.Init.Prescaler = 88; /* pwm prescaler of clk */
 		TimHandle.Init.ClockDivision = 0;
 		TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;