diff --git a/UAV-ControlSystem/src/Flight/pid.c b/UAV-ControlSystem/src/Flight/pid.c
index ad5a3ee..4acc068 100644
--- a/UAV-ControlSystem/src/Flight/pid.c
+++ b/UAV-ControlSystem/src/Flight/pid.c
@@ -174,7 +174,7 @@ void getPointRate(float *desiredCommand, uint8_t ID_profile)
 
 		//desiredCommand[THROTTLE] = convertData(RADIO_RANGE, BAROMETER_RANGE, 0, rc_input.Throttle*throttleRate);
 
-		desiredCommand[THROTTLE] = 1*20;
+		desiredCommand[THROTTLE] = 3*20;
 
 		break;
 	default:
@@ -349,6 +349,8 @@ void pidRun(uint8_t ID)
 		else
 		{
 			pidUAV(&PidProfile[PID_ID_BAROMETER], &PidProfileBuff[PID_ID_BAROMETER]);
+			PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainf(PidProfile[PID_ID_BAROMETER].PID_Out[0], -(int)pidProfile->pid_out_limit, (int)pidProfile->pid_out_limit);
+
 		}
 
 		break;