diff --git a/ArduCopterMega/motors_hexa.pde b/ArduCopterMega/motors_hexa.pde
index 813a94c79d..722da90dc0 100644
--- a/ArduCopterMega/motors_hexa.pde
+++ b/ArduCopterMega/motors_hexa.pde
@@ -6,6 +6,7 @@ void output_motors_armed()
 {
 	int roll_out, pitch_out;
 	int out_min = g.rc_3.radio_min;
+	int out_max = g.rc_3.radio_max;
 
 	// Throttle is 0 to 1000 only
 	g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, 1000);
@@ -57,13 +58,19 @@ void output_motors_armed()
 	motor_out[CH_8]		-= g.rc_4.pwm_out;  // CW
 
 	// limit output so motors don't stop
-	motor_out[CH_1]  = max(motor_out[CH_1],  out_min);
-	motor_out[CH_2]  = max(motor_out[CH_2],  out_min);
-	motor_out[CH_3]  = max(motor_out[CH_3],  out_min);
-	motor_out[CH_4]  = max(motor_out[CH_4],  out_min);
-	motor_out[CH_7]  = max(motor_out[CH_7],  out_min);
-	motor_out[CH_8]  = max(motor_out[CH_8],  out_min);
+	motor_out[CH_1] = max(motor_out[CH_1],  out_min);
+	motor_out[CH_2] = max(motor_out[CH_2],  out_min);
+	motor_out[CH_3] = max(motor_out[CH_3],  out_min);
+	motor_out[CH_4] = max(motor_out[CH_4],  out_min);
+	motor_out[CH_7] = max(motor_out[CH_7],  out_min);
+	motor_out[CH_8] = max(motor_out[CH_8],  out_min);
 
+	motor_out[CH_1]	= min(motor_out[CH_1], 	out_max);
+	motor_out[CH_2]	= min(motor_out[CH_2], 	out_max);
+	motor_out[CH_3]	= min(motor_out[CH_3], 	out_max);
+	motor_out[CH_4] = min(motor_out[CH_4], 	out_max);
+	motor_out[CH_7] = min(motor_out[CH_7],  out_max);
+	motor_out[CH_8]	= min(motor_out[CH_8],  out_max);
 
 
 	#if CUT_MOTORS == ENABLED
diff --git a/ArduCopterMega/motors_octa.pde b/ArduCopterMega/motors_octa.pde
index 4aa867df24..a20e090449 100644
--- a/ArduCopterMega/motors_octa.pde
+++ b/ArduCopterMega/motors_octa.pde
@@ -6,6 +6,7 @@ void output_motors_armed()
 {
 	int roll_out, pitch_out;
 	int out_min = g.rc_3.radio_min;
+	int out_max = g.rc_3.radio_max;
 
 	// Throttle is 0 to 1000 only
 	g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, 1000);
@@ -112,6 +113,16 @@ void output_motors_armed()
 	motor_out[CH_10]	= max(motor_out[CH_10], out_min);
 	motor_out[CH_11] 	= max(motor_out[CH_11], out_min);
 
+	motor_out[CH_1]		= min(motor_out[CH_1], 	out_max);
+	motor_out[CH_2]		= min(motor_out[CH_2], 	out_max);
+	motor_out[CH_3]		= min(motor_out[CH_3], 	out_max);
+	motor_out[CH_4]		= min(motor_out[CH_4], 	out_max);
+	motor_out[CH_7]		= min(motor_out[CH_7],  out_max);
+	motor_out[CH_8]		= min(motor_out[CH_8],  out_max);
+	motor_out[CH_10]	= min(motor_out[CH_10], out_max);
+	motor_out[CH_11] 	= min(motor_out[CH_11], out_max);
+
+
 	#if CUT_MOTORS == ENABLED
 		// Send commands to motors
 		if(g.rc_3.servo_out > 0){
diff --git a/ArduCopterMega/motors_octa_quad.pde b/ArduCopterMega/motors_octa_quad.pde
index 03c82a9db8..e0e70d6470 100644
--- a/ArduCopterMega/motors_octa_quad.pde
+++ b/ArduCopterMega/motors_octa_quad.pde
@@ -6,6 +6,7 @@ void output_motors_armed()
 {
 	int roll_out, pitch_out;
 	int out_min = g.rc_3.radio_min;
+	int out_max = g.rc_3.radio_max;
 
 	// Throttle is 0 to 1000 only
 	g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, 1000);
@@ -83,6 +84,16 @@ void output_motors_armed()
 	motor_out[CH_10]	= max(motor_out[CH_10], out_min);
 	motor_out[CH_11] 	= max(motor_out[CH_11], out_min);
 
+
+	motor_out[CH_1]		= min(motor_out[CH_1], 	out_max);
+	motor_out[CH_2]		= min(motor_out[CH_2], 	out_max);
+	motor_out[CH_3]		= min(motor_out[CH_3], 	out_max);
+	motor_out[CH_4]		= min(motor_out[CH_4], 	out_max);
+	motor_out[CH_7]		= min(motor_out[CH_7],  out_max);
+	motor_out[CH_8]		= min(motor_out[CH_8],  out_max);
+	motor_out[CH_10]	= min(motor_out[CH_10], out_max);
+	motor_out[CH_11] 	= min(motor_out[CH_11], out_max);
+
 	#if CUT_MOTORS == ENABLED
 		// Send commands to motors
 		if(g.rc_3.servo_out > 0){
diff --git a/ArduCopterMega/motors_quad.pde b/ArduCopterMega/motors_quad.pde
index 6bce447f09..35c6005bf7 100644
--- a/ArduCopterMega/motors_quad.pde
+++ b/ArduCopterMega/motors_quad.pde
@@ -6,6 +6,7 @@ void output_motors_armed()
 {
 	int roll_out, pitch_out;
 	int out_min = g.rc_3.radio_min;
+	int out_max = g.rc_3.radio_max;
 
 	// Throttle is 0 to 1000 only
 	g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, 1000);
@@ -57,6 +58,11 @@ void output_motors_armed()
 	motor_out[CH_3]		= max(motor_out[CH_3], 	out_min);
 	motor_out[CH_4] 	= max(motor_out[CH_4], 	out_min);
 
+	motor_out[CH_1]		= min(motor_out[CH_1], 	out_max);
+	motor_out[CH_2]		= min(motor_out[CH_2], 	out_max);
+	motor_out[CH_3]		= min(motor_out[CH_3], 	out_max);
+	motor_out[CH_4] 	= min(motor_out[CH_4], 	out_max);
+
 	#if CUT_MOTORS == ENABLED
 		// Send commands to motors
 		if(g.rc_3.servo_out > 0){
diff --git a/ArduCopterMega/motors_tri.pde b/ArduCopterMega/motors_tri.pde
index 1885c9a5cb..e1e0902391 100644
--- a/ArduCopterMega/motors_tri.pde
+++ b/ArduCopterMega/motors_tri.pde
@@ -4,6 +4,7 @@
 void output_motors_armed()
 {
 	int out_min = g.rc_3.radio_min;
+	int out_max = g.rc_3.radio_max;
 
 	// Throttle is 0 to 1000 only
 	g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, 1000);
@@ -33,6 +34,10 @@ void output_motors_armed()
 	motor_out[CH_2]		= max(motor_out[CH_2], 	out_min);
 	motor_out[CH_4] 	= max(motor_out[CH_4], 	out_min);
 
+	motor_out[CH_1]		= min(motor_out[CH_1], 	out_max);
+	motor_out[CH_2]		= min(motor_out[CH_2], 	out_max);
+	motor_out[CH_4] 	= min(motor_out[CH_4], 	out_max);
+
 	#if CUT_MOTORS == ENABLED
 			// Send commands to motors
 		if(g.rc_3.servo_out > 0){
diff --git a/ArduCopterMega/motors_y6.pde b/ArduCopterMega/motors_y6.pde
index 194862e2a6..07df2e9071 100644
--- a/ArduCopterMega/motors_y6.pde
+++ b/ArduCopterMega/motors_y6.pde
@@ -5,6 +5,7 @@
 void output_motors_armed()
 {
 	int out_min = g.rc_3.radio_min;
+	int out_max = g.rc_3.radio_max;
 
 	// Throttle is 0 to 1000 only
 	g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, 1000);
@@ -41,6 +42,21 @@ void output_motors_armed()
 	motor_out[CH_1]		-= g.rc_4.pwm_out;	// CW
 	motor_out[CH_4]		-= g.rc_4.pwm_out;  // CW
 
+	// limit output so motors don't stop
+	motor_out[CH_1] = max(motor_out[CH_1],  out_min);
+	motor_out[CH_2] = max(motor_out[CH_2],  out_min);
+	motor_out[CH_3] = max(motor_out[CH_3],  out_min);
+	motor_out[CH_4] = max(motor_out[CH_4],  out_min);
+	motor_out[CH_7] = max(motor_out[CH_7],  out_min);
+	motor_out[CH_8] = max(motor_out[CH_8],  out_min);
+
+	motor_out[CH_1]	= min(motor_out[CH_1], 	out_max);
+	motor_out[CH_2]	= min(motor_out[CH_2], 	out_max);
+	motor_out[CH_3]	= min(motor_out[CH_3], 	out_max);
+	motor_out[CH_4] = min(motor_out[CH_4], 	out_max);
+	motor_out[CH_7] = min(motor_out[CH_7],  out_max);
+	motor_out[CH_8]	= min(motor_out[CH_8],  out_max);
+
 	#if CUT_MOTORS == ENABLED
 		// Send commands to motors
 		if(g.rc_3.servo_out > 0){