diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index 99dca93712..78c2cc13f2 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -907,6 +907,7 @@ const clivalue_t valueTable[] = {
 
 // PG_MIXER_CONFIG
     { "yaw_motors_reversed",        VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, yaw_motors_reversed) },
+    { "linear_mixer",               VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, linear_mixer) },
     { "crashflip_motor_percent",    VAR_UINT8 |  MASTER_VALUE,  .config.minmaxUnsigned = { 0, 100 }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, crashflip_motor_percent) },
     { "crashflip_expo",    VAR_UINT8 |  MASTER_VALUE,  .config.minmaxUnsigned = { 0, 100 }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, crashflip_expo) },
 
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 289c5ef969..597e17b3aa 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -425,6 +425,47 @@ static void updateDynLpfCutoffs(timeUs_t currentTimeUs, float throttle)
 }
 #endif
 
+static void applyLinearMixerAdjustment(float *motorMix, float motorMixRange, bool airmodeEnabled) {
+    float motorMixNormalizationFactor = motorMixRange > 1.0f ? motorMixRange : 1.0f;
+    float motorMixDelta = 0.5f * motorMixRange;
+
+    for (int i = 0; i < mixerRuntime.motorCount; ++i) {
+        if (airmodeEnabled || throttle > 0.5f) {
+            motorMix[i] = scaleRangef(throttle, 0.0f, 1.0f, motorMix[i] + motorMixDelta, motorMix[i] - motorMixDelta);
+        }
+        motorMix[i] /= motorMixNormalizationFactor;
+    }
+}
+
+static void applyMixerAdjustment(float *motorMix, float motorMixMin, float motorMixMax, float motorMixRange, bool airmodeEnabled) {
+#ifdef USE_AIRMODE_LPF
+    const float unadjustedThrottle = throttle;
+    throttle += pidGetAirmodeThrottleOffset();
+    float airmodeThrottleChange = 0;
+#endif
+
+    if (motorMixRange > 1.0f) {
+        for (int i = 0; i < mixerRuntime.motorCount; i++) {
+            motorMix[i] /= motorMixRange;
+        }
+        // Get the maximum correction by setting offset to center when airmode enabled
+        if (airmodeEnabled) {
+            throttle = 0.5f;
+        }
+    } else {
+        if (airmodeEnabled || throttle > 0.5f) {
+            throttle = constrainf(throttle, -motorMixMin, 1.0f - motorMixMax);
+#ifdef USE_AIRMODE_LPF
+            airmodeThrottleChange = constrainf(unadjustedThrottle, -motorMixMin, 1.0f - motorMixMax) - unadjustedThrottle;
+#endif
+        }
+    }
+
+#ifdef USE_AIRMODE_LPF
+    pidUpdateAirmodeLpf(airmodeThrottleChange);
+#endif
+}
+
 FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
 {
     // Find min and max throttle based on conditions. Throttle has to be known before mixing
@@ -549,35 +590,13 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
     }
 #endif
 
-#ifdef USE_AIRMODE_LPF
-    const float unadjustedThrottle = throttle;
-    throttle += pidGetAirmodeThrottleOffset();
-    float airmodeThrottleChange = 0;
-#endif
-
-    // apply airmode
     motorMixRange = motorMixMax - motorMixMin;
-    if (motorMixRange > 1.0f) {
-        for (int i = 0; i < mixerRuntime.motorCount; i++) {
-            motorMix[i] /= motorMixRange;
-        }
-        // Get the maximum correction by setting offset to center when airmode enabled
-        if (airmodeEnabled) {
-            throttle = 0.5f;
-        }
+    if (mixerConfig()->linear_mixer) {
+        applyLinearMixerAdjustment(motorMix, motorMixRange, airmodeEnabled);
     } else {
-        if (airmodeEnabled || throttle > 0.5f) {  // Only automatically adjust throttle when airmode enabled. Airmode logic is always active on high throttle
-            throttle = constrainf(throttle, -motorMixMin, 1.0f - motorMixMax);
-#ifdef USE_AIRMODE_LPF
-            airmodeThrottleChange = constrainf(unadjustedThrottle, -motorMixMin, 1.0f - motorMixMax) - unadjustedThrottle;
-#endif
-        }
+        applyMixerAdjustment(motorMix, motorMixMin, motorMixMax, motorMixRange, airmodeEnabled);
     }
 
-#ifdef USE_AIRMODE_LPF
-    pidUpdateAirmodeLpf(airmodeThrottleChange);
-#endif
-
     if (featureIsEnabled(FEATURE_MOTOR_STOP)
         && ARMING_FLAG(ARMED)
         && !mixerRuntime.feature3dEnabled
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 61e4785d86..b3031a6e1c 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -82,6 +82,7 @@ typedef struct mixerConfig_s {
     bool yaw_motors_reversed;
     uint8_t crashflip_motor_percent;
     uint8_t crashflip_expo;
+    uint8_t linear_mixer;
 } mixerConfig_t;
 
 PG_DECLARE(mixerConfig_t, mixerConfig);
diff --git a/src/main/flight/mixer_init.c b/src/main/flight/mixer_init.c
index 93f326d8a2..830d2fe2a3 100644
--- a/src/main/flight/mixer_init.c
+++ b/src/main/flight/mixer_init.c
@@ -50,7 +50,8 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
     .mixerMode = DEFAULT_MIXER,
     .yaw_motors_reversed = false,
     .crashflip_motor_percent = 0,
-    .crashflip_expo = 35
+    .crashflip_expo = 35,
+    .linear_mixer = false,
 );
 
 PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);