diff --git a/apps/ardrone_control/ardrone_control.c b/apps/ardrone_control/ardrone_control.c
index d457fc2ec7..bc5598f9c5 100644
--- a/apps/ardrone_control/ardrone_control.c
+++ b/apps/ardrone_control/ardrone_control.c
@@ -236,7 +236,7 @@ int ardrone_control_main(int argc, char *argv[])
 						state.state_machine == SYSTEM_STATE_AUTO ||
 						state.state_machine == SYSTEM_STATE_MISSION_ABORT ||
 						state.state_machine == SYSTEM_STATE_EMCY_LANDING) {
-						att_sp.thrust = manual.throttle/2.0f;
+						att_sp.thrust = manual.throttle;
 
 					} else if (state.state_machine == SYSTEM_STATE_EMCY_CUTOFF) {
 						/* immediately cut off motors */
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 19fc81f636..21bf91c61e 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -306,8 +306,8 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 			calibration_counter++;
 		} else {
 			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry.");
-			break;
+			//mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry.");
+			//break;
 		}
 	}
 
@@ -376,9 +376,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	printf("\nFINAL:\nmag min: %d\t%d\t%d\nmag max: %d\t%d\t%d\n", (int)min_avg[0], (int)min_avg[1], (int)min_avg[2], (int)max_avg[0], (int)max_avg[1], (int)max_avg[2]);
 
 	float mag_offset[3];
-	mag_offset[0] = (max_avg[0] - min_avg[0])/2;
-	mag_offset[1] = (max_avg[1] - min_avg[1])/2;
-	mag_offset[2] = (max_avg[2] - min_avg[2])/2;
+	mag_offset[0] = (max_avg[0] - min_avg[0]);
+	mag_offset[1] = (max_avg[1] - min_avg[1]);
+	mag_offset[2] = (max_avg[2] - min_avg[2]);
 
 	global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_XOFFSET] = mag_offset[0];
 	global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_YOFFSET] = mag_offset[1];
diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c
index d847c4ffc1..1506dee1d4 100644
--- a/apps/sensors/sensors.c
+++ b/apps/sensors/sensors.c
@@ -759,9 +759,9 @@ int sensors_main(int argc, char *argv[])
 					if (manual_control.yaw >  1.0f) manual_control.yaw =  1.0f;
 					
 					/* throttle input */
-					manual_control.throttle = rc.chan[rc.function[THROTTLE]].scaled;
+					manual_control.throttle = rc.chan[rc.function[THROTTLE]].scaled/2.0f;
 					if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
-					if (manual_control.throttle > 2.0f) manual_control.throttle = 2.0f;
+					if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;
 
 					/* mode switch input */
 					manual_control.override_mode_switch = rc.chan[rc.function[OVERRIDE]].scaled;