diff --git a/baseflight.uvproj b/baseflight.uvproj
index 378859f85b..cb5dcf75e7 100755
--- a/baseflight.uvproj
+++ b/baseflight.uvproj
@@ -183,7 +183,7 @@
             <ldmm>1</ldmm>
             <ldXref>1</ldXref>
             <BigEnd>0</BigEnd>
-            <AdsALst>1</AdsALst>
+            <AdsALst>0</AdsALst>
             <AdsACrf>1</AdsACrf>
             <AdsANop>0</AdsANop>
             <AdsANot>0</AdsANot>
@@ -817,13 +817,13 @@
       <ToolsetName>ARM-ADS</ToolsetName>
       <TargetOption>
         <TargetCommonOption>
-          <Device>STM32F103C8</Device>
+          <Device>STM32F103CB</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu>
+          <Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x801FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile>"STARTUP\ST\STM32F10x\startup_stm32f10x_md.s" ("STM32 Medium Density Line Startup Code")</StartupFile>
-          <FlashDriverDll>UL2CM3(-O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000)</FlashDriverDll>
-          <DeviceId>4235</DeviceId>
+          <FlashDriverDll>UL2CM3(-O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000)</FlashDriverDll>
+          <DeviceId>4401</DeviceId>
           <RegisterFile>stm32f10x.h</RegisterFile>
           <MemoryEnv></MemoryEnv>
           <Cmp></Cmp>
@@ -834,7 +834,7 @@
           <SLE66CMisc></SLE66CMisc>
           <SLE66AMisc></SLE66AMisc>
           <SLE66LinkerMisc></SLE66LinkerMisc>
-          <SFDFile>SFD\ST\STM32F1xx\STM32F103xx.sfrSVD=SFD\ST\STM32F1xx\STM32F103xx.sfr</SFDFile>
+          <SFDFile>SFD\ST\STM32F1xx\STM32F103xx.sfr</SFDFile>
           <UseEnv>0</UseEnv>
           <BinPath></BinPath>
           <IncludePath></IncludePath>
@@ -907,11 +907,11 @@
           <SimDllName>SARMCM3.DLL</SimDllName>
           <SimDllArguments></SimDllArguments>
           <SimDlgDll>DARMSTM.DLL</SimDlgDll>
-          <SimDlgDllArguments>-pSTM32F103C8</SimDlgDllArguments>
+          <SimDlgDllArguments>-pSTM32F103CB</SimDlgDllArguments>
           <TargetDllName>SARMCM3.DLL</TargetDllName>
           <TargetDllArguments></TargetDllArguments>
           <TargetDlgDll>TARMSTM.DLL</TargetDlgDll>
-          <TargetDlgDllArguments>-pSTM32F103C8</TargetDlgDllArguments>
+          <TargetDlgDllArguments>-pSTM32F103CB</TargetDlgDllArguments>
         </DllOption>
         <DebugOption>
           <OPTHX>
@@ -988,7 +988,7 @@
             <ldmm>1</ldmm>
             <ldXref>1</ldXref>
             <BigEnd>0</BigEnd>
-            <AdsALst>1</AdsALst>
+            <AdsALst>0</AdsALst>
             <AdsACrf>1</AdsACrf>
             <AdsANop>0</AdsANop>
             <AdsANot>0</AdsANot>
@@ -1001,7 +1001,7 @@
             <AdsLsun>1</AdsLsun>
             <AdsLven>1</AdsLven>
             <AdsLsxf>1</AdsLsxf>
-            <RvctClst>1</RvctClst>
+            <RvctClst>0</RvctClst>
             <GenPPlst>0</GenPPlst>
             <AdsCpuType>"Cortex-M3"</AdsCpuType>
             <RvctDeviceName></RvctDeviceName>
@@ -1077,7 +1077,7 @@
               <IROM>
                 <Type>1</Type>
                 <StartAddress>0x8000000</StartAddress>
-                <Size>0x10000</Size>
+                <Size>0x20000</Size>
               </IROM>
               <XRAM>
                 <Type>0</Type>
@@ -1102,7 +1102,7 @@
               <OCR_RVCT4>
                 <Type>1</Type>
                 <StartAddress>0x8000000</StartAddress>
-                <Size>0x10000</Size>
+                <Size>0x20000</Size>
               </OCR_RVCT4>
               <OCR_RVCT5>
                 <Type>1</Type>
diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index 7503bc78ad..ff6e7a8647 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
@@ -249,8 +249,8 @@
 :100F70006D653A2025642C20493243204572726FFA
 :100F800072733A2025640D0A000000004166726FFA
 :100F9000333220434C492076657273696F6E20327C
-:100FA0002E31204A616E2020352032303133202FFF
-:100FB0002031303A31313A323800000095010020BA
+:100FA0002E31204A616E2031322032303133202FF1
+:100FB0002031373A32353A303900000095010020AF
 :100FC0000D0A456E746572696E6720434C49204D69
 :100FD0006F64652C207479706520276578697427A3
 :100FE00020746F2072657475726E2C206F722027CA
@@ -551,7 +551,7 @@
 :10225000039906F08DFD07F00CF86F49183921F845
 :102260001400641C4445CDD36A4C4D4699F80500D2
 :10227000A41CDFF8B091052836D004DC012823D057
-:10228000042862D102E008285FD19FE0BBF9043046
+:10228000042862D102E008285FD1A1E0BBF9043044
 :102290004FF47F7206FB037101F2DC514FF4FA60D8
 :1022A000914201DA114602E0814200DD01462181BE
 :1022B0005E43F11B01F2DC51914201DA104601E06C
@@ -564,29 +564,29 @@
 :10232000B2F90020B1F900105043B5F8EC20114487
 :10233000C21700EB127001EB2010B5F8E8108842CC
 :1023400063DBB5F8EA109FE060802020FFF786F895
-:1023500000286FD095F8E01000208A0707D0B9F860
-:102360000C20B5F89830A2EB030262F30F004A0785
-:1023700007D4B9F80E20B5F89830A2EB030262F347
-:102380001F40B5F8E620024412B22280B5F8EC30C6
-:1023900003EB104003B2254863800079A0B3C80660
-:1023A00078D5214A95F9DF00B2F902304142B2F9FD
-:1023B000002059435043CA1701EB12710911C2178B
-:1023C00000EB1270A1EB2010208079E012490098F8
-:1023D00018390E4A08801648DA32867A92F90010C7
-:1023E00092F9023092F9010092F9032056B3B9F93B
-:1023F0000270B5F898C0A7EB0C0707FB01F8B9F914
-:102400000010A1EB0C0116E05BE040E0200400208E
+:1023500000286FD095F8E0300020990707D0B9F831
+:102360000C10B5F89820A1EB020161F30F0059079A
+:1023700007D4B9F80E10B5F89820A1EB020161F36B
+:102380001F40B5F8E610014409B22180B5F8EC20F1
+:1023900002EB104002B2254862800079A0B3D80653
+:1023A00078D5214E95F9DF00B6F902704342B6F9AF
+:1023B00000607B437043DE1703EB16731B11C617D7
+:1023C00000EB1670A3EB201001442180104477E04D
+:1023D0001149009818390D4A0880DA32144892F9E8
+:1023E00002C092F90110867A92F9000092F9033046
+:1023F00046B3B9F90220B5F89870D21B02FB00F879
+:10240000B9F90000C01B16E05BE040E020040020AA
 :10241000D0B800087E0000209006002000010020B7
 :102420000E0100203001002020000020E2070020E3
-:10243000B00700205DE003FB0183474302FB01700E
-:10244000238006E0794303FB0A11784302FB0A006C
-:1024500021806080B4F90000B5F8D0100144B5F8CF
-:10246000CE00814204DBB5F8D200814200DC084690
+:10243000B00700205DE00CFB00864A4303FB002050
+:10244000268006E078430CFB0A002080794303FBDA
+:102450000A106080B4F90000B5F8D0100844B5F84F
+:10246000CE10884203DBB5F8D210884200DD084662
 :102470002080B4F90200B5F8D6100844B5F8D4109D
 :10248000884204DBB5F8D81088427FF75DAF084674
-:102490005AE7FFE7484995F9DE00B1F90260704359
-:1024A000C61700EB167002EB2010208095F9DF00B4
-:1024B000B1F900104843C11700EB117003EB201075
+:102490005AE7FFE7484B95F9DE00B3F90260704355
+:1024A000C61700EB167001EB2010208095F9DF00B5
+:1024B000B3F900104843C11700EB117002EB201074
 :1024C0006080B4F90000B5F8E210884203DBB5F88B
 :1024D000E410884200DD08462080B4F90200B5F817
 :1024E000E810884203DBB5F8EA10884200DD0846B0
diff --git a/src/mixer.c b/src/mixer.c
index 34fee3dbdc..1e22e1987d 100755
--- a/src/mixer.c
+++ b/src/mixer.c
@@ -347,8 +347,8 @@ void mixTable(void)
 
         if (rcOptions[BOXCAMSTAB]) {
             if (cfg.gimbal_flags & GIMBAL_MIXTILT) {
-                servo[0] = (-cfg.gimbal_roll_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16;
-                servo[1] = (-cfg.gimbal_roll_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16;
+                servo[0] += (-cfg.gimbal_roll_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16;
+                servo[1] += (-cfg.gimbal_roll_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16;
             } else {
                 servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16;
                 servo[1] += cfg.gimbal_roll_gain * angle[ROLL]  / 16;