Index: src/mixer.c
===================================================================
--- src/mixer.c	(revision 286)
+++ src/mixer.c	(working copy)
@@ -22,10 +22,10 @@
 };
 
 static const motorMixer_t mixerQuadX[] = {
-    { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
-    { 1.0f, -1.0f, -1.0f,  1.0f },          // FRONT_R
-    { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
-    { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
+    { 1.0f, -0.5f,  0.5f, -0.5f },          // REAR_R
+    { 1.0f, -0.5f, -0.5f,  0.5f },          // FRONT_R
+    { 1.0f,  0.5f,  0.5f,  0.5f },          // REAR_L
+    { 1.0f,  0.5f, -0.5f, -0.5f },          // FRONT_L
 };
 
 static const motorMixer_t mixerBi[] = {
@@ -374,14 +374,22 @@
     for (i = 0; i < numberMotor; i++) {
         if (maxMotor > cfg.maxthrottle)     // this is a way to still have good gyro corrections if at least one motor reaches its max.
             motor[i] -= maxMotor - cfg.maxthrottle;
-        motor[i] = constrain(motor[i], cfg.minthrottle, cfg.maxthrottle);
-        if ((rcData[THROTTLE]) < cfg.mincheck) {
+        
+				//motor[i] = constrain(motor[i], cfg.minthrottle, cfg.maxthrottle);
+        if ((rcData[THROTTLE]) > 1500){
+						motor[i] = constrain(motor[i], 1530, cfg.maxthrottle); 
+				}else{
+						motor[i] = constrain(motor[i], cfg.mincommand, 1470); 
+				}
+		
+				if ((rcData[THROTTLE]) < cfg.mincheck) {
             if (!feature(FEATURE_MOTOR_STOP))
                 motor[i] = cfg.minthrottle;
             else
                 motor[i] = cfg.mincommand;
         }
+				
         if (!f.ARMED)
-            motor[i] = cfg.mincommand;
-    }
+            //motor[i] = cfg.mincommand;
+						motor[i] = 1500;}
 }
Index: src/mw.c
===================================================================
--- src/mw.c	(revision 286)
+++ src/mw.c	(working copy)
@@ -268,7 +268,10 @@
         // TODO clean this up. computeRC should handle this check
         if (!feature(FEATURE_SPEKTRUM))
             computeRC();
-
+				
+				if (!rcOptions[BOXARM])  ///////////////////// important to be always able to disarm
+						f.ARMED = 0;
+			
         // Failsafe routine
         if (feature(FEATURE_FAILSAFE)) {
             if (failsafeCnt > (5 * cfg.failsafe_delay) && f.ARMED) { // Stabilize, and set Throttle to specified level
@@ -288,7 +291,7 @@
             failsafeCnt++;
         }
 
-        if (rcData[THROTTLE] < cfg.mincheck) {
+        if (rcData[THROTTLE] > 1450 && rcData[THROTTLE] <1550) {
             errorGyroI[ROLL] = 0;
             errorGyroI[PITCH] = 0;
             errorGyroI[YAW] = 0;