diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 84ce0147f0..4dbff14a39 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -526,16 +526,16 @@ bool QuadPlane::setup(void)
 
     switch (motor_class) {
     case AP_Motors::MOTOR_FRAME_TRI:
-        motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz());
+        motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz(), rc_speed);
         motors_var_info = AP_MotorsTri::var_info;
         break;
     case AP_Motors::MOTOR_FRAME_TAILSITTER:
-        motors = new AP_MotorsTailsitter(plane.scheduler.get_loop_rate_hz());
+        motors = new AP_MotorsTailsitter(plane.scheduler.get_loop_rate_hz(), rc_speed);
         motors_var_info = AP_MotorsTailsitter::var_info;
         rotation = ROTATION_PITCH_90;
         break;
     default:
-        motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz());
+        motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz(), rc_speed);
         motors_var_info = AP_MotorsMatrix::var_info;
         break;
     }
@@ -1170,7 +1170,7 @@ bool QuadPlane::assistance_needed(float aspeed)
         return false;
     }
     
-    uint32_t max_angle_cd = 100U*assist_angle;
+    int32_t max_angle_cd = 100U*assist_angle;
     if ((labs(ahrs.roll_sensor - plane.nav_roll_cd) < max_angle_cd &&
          labs(ahrs.pitch_sensor - plane.nav_pitch_cd) < max_angle_cd)) {
         // not beyond angle error