diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 0ffe30fcf5..5627cef2cf 100755
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -2341,11 +2341,93 @@ static void resetPositionController(void)
     }
 }
 
+
+static void processBrakingMode(const bool isAdjusting) 
+{
+#ifdef USE_MR_BRAKING_MODE
+
+    static uint32_t brakingModeDisengageAt = 0;
+    static uint32_t brakingBoostModeDisengageAt = 0;
+
+    const bool brakingEntryAllowed = 
+        IS_RC_MODE_ACTIVE(BOXBRAKING) &&
+        !STATE(NAV_CRUISE_BRAKING_LOCKED) && 
+        posControl.actualState.velXY > navConfig()->mc.braking_speed_threshold && 
+        !isAdjusting &&
+        navConfig()->general.flags.user_control_mode == NAV_GPS_CRUISE &&
+        navConfig()->mc.braking_speed_threshold > 0 &&
+        (
+            NAV_Status.state == MW_NAV_STATE_NONE ||
+            NAV_Status.state == MW_NAV_STATE_HOLD_INFINIT
+        );
+
+
+    /*
+        * Case one, when we order to brake (sticks to the center) and we are moving above threshold
+        * Speed is above 1m/s and sticks are centered
+        * Extra condition: BRAKING flight mode has to be enabled
+        */
+    if (brakingEntryAllowed) {
+        /*
+            * Set currnt position and target position
+            * Enabling NAV_CRUISE_BRAKING locks other routines from setting position!
+            */
+        setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, 0, NAV_POS_UPDATE_XY);
+
+        ENABLE_STATE(NAV_CRUISE_BRAKING_LOCKED);
+        ENABLE_STATE(NAV_CRUISE_BRAKING);
+
+        //Set forced BRAKING disengage moment
+        brakingModeDisengageAt = millis() + navConfig()->mc.braking_timeout;
+
+        //If speed above threshold, start boost mode as well
+        if (posControl.actualState.velXY > navConfig()->mc.braking_boost_speed_threshold) {
+            ENABLE_STATE(NAV_CRUISE_BRAKING_BOOST);
+
+            brakingBoostModeDisengageAt = millis() + navConfig()->mc.braking_boost_timeout;
+        }
+
+    }
+
+    // We can enter braking only after user started to move the sticks
+    if (STATE(NAV_CRUISE_BRAKING_LOCKED) && isAdjusting) {
+        DISABLE_STATE(NAV_CRUISE_BRAKING_LOCKED);
+    }
+
+    /*
+     * Case when speed dropped, disengage BREAKING_BOOST
+     */
+    if (
+        STATE(NAV_CRUISE_BRAKING_BOOST) && (
+            posControl.actualState.velXY <= navConfig()->mc.braking_boost_disengage_speed ||
+            brakingBoostModeDisengageAt < millis()
+    )) {
+        DISABLE_STATE(NAV_CRUISE_BRAKING_BOOST);
+    }
+
+    /*
+     * Case when we were braking but copter finally stopped or we started to move the sticks
+     */
+    if (STATE(NAV_CRUISE_BRAKING) && (
+        posControl.actualState.velXY <= navConfig()->mc.braking_disengage_speed ||  //We stopped
+        isAdjusting ||                                                              //Moved the sticks
+        brakingModeDisengageAt < millis()                                           //Braking is done to timed disengage
+    )) {
+        DISABLE_STATE(NAV_CRUISE_BRAKING);
+        DISABLE_STATE(NAV_CRUISE_BRAKING_BOOST);
+
+        /*
+            * When braking is done, store current position as desired one
+            * We do not want to go back to the place where braking has started
+            */
+        setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, 0, NAV_POS_UPDATE_XY);
+    }
+#endif
+}
+
 static bool adjustPositionFromRCInput(void)
 {
     bool retValue;
-    static uint32_t brakingModeDisengageAt = 0;
-    static uint32_t brakingBoostModeDisengageAt = 0;
 
     if (STATE(FIXED_WING)) {
         retValue = adjustFixedWingPositionFromRCInput();
@@ -2355,86 +2437,7 @@ static bool adjustPositionFromRCInput(void)
         const int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], rcControlsConfig()->pos_hold_deadband);
         const int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
 
-#ifdef USE_MR_BRAKING_MODE
-
-        const bool brakingEntryAllowed = 
-            IS_RC_MODE_ACTIVE(BOXBRAKING) &&
-            !STATE(NAV_CRUISE_BRAKING_LOCKED) && 
-            posControl.actualState.velXY > navConfig()->mc.braking_speed_threshold && 
-            !rcPitchAdjustment && 
-            !rcRollAdjustment &&
-            navConfig()->general.flags.user_control_mode == NAV_GPS_CRUISE &&
-            navConfig()->mc.braking_speed_threshold > 0 &&
-            (
-                NAV_Status.state == MW_NAV_STATE_NONE ||
-                NAV_Status.state == MW_NAV_STATE_HOLD_INFINIT
-            );
-
-
-        /*
-         * Case one, when we order to brake (sticks to the center) and we are moving above threshold
-         * Speed is above 1m/s and sticks are centered
-         * Extra condition: BRAKING flight mode has to be enabled
-         */
-        if (brakingEntryAllowed) {
-            /*
-             * Set currnt position and target position
-             * Enabling NAV_CRUISE_BRAKING locks other routines from setting position!
-             */
-            setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, 0, NAV_POS_UPDATE_XY);
-
-            ENABLE_STATE(NAV_CRUISE_BRAKING_LOCKED);
-            ENABLE_STATE(NAV_CRUISE_BRAKING);
-
-            //Set forced BRAKING disengage moment
-            brakingModeDisengageAt = millis() + navConfig()->mc.braking_timeout;
-
-            //If speed above threshold, start boost mode as well
-            if (posControl.actualState.velXY > navConfig()->mc.braking_boost_speed_threshold) {
-                ENABLE_STATE(NAV_CRUISE_BRAKING_BOOST);
-
-                brakingBoostModeDisengageAt = millis() + navConfig()->mc.braking_boost_timeout;
-            }
-
-        }
-
-        // We can enter braking only after user started to move the sticks
-        if (STATE(NAV_CRUISE_BRAKING_LOCKED) &&
-            (rcPitchAdjustment || rcRollAdjustment)
-        ) {
-            DISABLE_STATE(NAV_CRUISE_BRAKING_LOCKED);
-        }
-
-        /*
-         * Case when speed dropped, disengage BREAKING_BOOST
-         */
-        if (
-            STATE(NAV_CRUISE_BRAKING_BOOST) && (
-                posControl.actualState.velXY <= navConfig()->mc.braking_boost_disengage_speed ||
-                brakingBoostModeDisengageAt < millis()
-        )) {
-            DISABLE_STATE(NAV_CRUISE_BRAKING_BOOST);
-        }
-
-        /*
-         * Case when we were braking but copter finally stopped or we started to move the sticks
-         */
-        if (STATE(NAV_CRUISE_BRAKING) && (
-            posControl.actualState.velXY <= navConfig()->mc.braking_disengage_speed ||  //We stopped
-            rcPitchAdjustment ||                                                        //Moved pitch stick
-            rcRollAdjustment ||                                                         //Moved roll stick
-            brakingModeDisengageAt < millis()                                           //Braking is done to timed disengage
-        )) {
-            DISABLE_STATE(NAV_CRUISE_BRAKING);
-            DISABLE_STATE(NAV_CRUISE_BRAKING_BOOST);
-
-            /*
-             * When braking is done, store current position as desired one
-             * We do not want to go back to the place where braking has started
-             */
-            setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, 0, NAV_POS_UPDATE_XY);
-        }
-#endif
+        processBrakingMode(rcPitchAdjustment || rcRollAdjustment);
 
         retValue = adjustMulticopterPositionFromRCInput(rcPitchAdjustment, rcRollAdjustment);
     }