diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index db298b700f..c6d5504c14 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -801,7 +801,7 @@ void mixTable(void)
         }
 
         // adjust feedback to scale PID error inputs to our limitations.
-        rpy_limiting = constrainf(((rpy_limiting * th_range) / rpy_range), 0.2f, 1.0f);
+        rpy_limiting = constrainf(((float)th_range / rpy_range), 0.1f, 1.0f);
     }
 
     if (ARMING_FLAG(ARMED)) {
@@ -854,7 +854,7 @@ void mixTable(void)
                     // If we're at minimum throttle and FEATURE_MOTOR_STOP enabled,
                     // do not spin the motors.
                     motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
-                    if (((rcData[THROTTLE]) < rxConfig->mincheck) && !(IS_RC_MODE_ACTIVE(BOXAIRMODE))) {
+                    if (((rcData[THROTTLE]) < rxConfig->mincheck)) {
                         if (feature(FEATURE_MOTOR_STOP)) {
                             motor[i] = escAndServoConfig->mincommand;
                         }
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 039a1f55ff..45e3619c45 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -161,10 +161,6 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
             }
         }
 
-        if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
-            AngleRate = AngleRate * rpy_limiting;
-        }
-
         gyroRate = gyroADC[axis] * gyro.scale; // gyro output scaled to dps
 
         // --------low-level gyro-based PID. ----------
@@ -173,6 +169,10 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         // multiplication of rcCommand corresponds to changing the sticks scaling here
         RateError = AngleRate - gyroRate;
 
+        if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
+        	RateError = RateError * rpy_limiting;
+        }
+
         // -----calculate P component
         PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
 
@@ -283,16 +283,16 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
             }
         }
 
-        if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
-            AngleRateTmp = AngleRateTmp * rpy_limiting;
-        }
-
         // --------low-level gyro-based PID. ----------
         // Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
         // -----calculate scaled error.AngleRates
         // multiplication of rcCommand corresponds to changing the sticks scaling here
         RateError = AngleRateTmp - (gyroADC[axis] / 4);
 
+        if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
+            RateError = RateError * rpy_limiting;
+        }
+
         // -----calculate P component
         PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
 
diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
index 5e425f6a0c..345521aa27 100644
--- a/src/main/io/rc_controls.h
+++ b/src/main/io/rc_controls.h
@@ -126,7 +126,7 @@ typedef struct modeActivationCondition_s {
 
 #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
 
-#define SHOULD_RESET_ERRORS ((throttleStatus == THROTTLE_LOW && !(IS_RC_MODE_ACTIVE(BOXAIRMODE))) || !(ARMING_FLAG(ARMED)) || failsafeIsActive())
+#define SHOULD_RESET_ERRORS ((throttleStatus == THROTTLE_LOW && !(IS_RC_MODE_ACTIVE(BOXAIRMODE))) || !(ARMING_FLAG(ARMED)) || failsafeIsActive()|| feature(FEATURE_MOTOR_STOP))
 
 typedef struct controlRateConfig_s {
     uint8_t rcRate8;