diff --git a/src/main/config/config.c b/src/main/config/config.c
index 55150f758..45861c92e 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -380,6 +380,7 @@ static void resetConf(void)
     masterConfig.small_angle = 25;
     masterConfig.disable_pid_at_min_throttle = 0;
 
+
     masterConfig.airplaneConfig.flaps_speed = 0;
     masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
 
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index 357ecbc0f..6de9f68a1 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -65,7 +65,7 @@ typedef struct master_t {
     uint8_t disarm_kill_switch;             // allow disarm via AUX switch regardless of throttle value
     uint8_t auto_disarm_delay;              // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
     uint8_t small_angle;
-    uint8_t disable_pid_at_min_throttle;   // when enabled (nonzero), ignore pids at minimum throttle
+    uint8_t disable_pid_at_min_throttle;    // when enabled (nonzero), ignore pids at minimum throttle
 
     airplaneConfig_t airplaneConfig;
 
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index ea74f2021..f222d7887 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -701,6 +701,8 @@ void mixTable(void)
                 if ((rcData[THROTTLE]) < rxConfig->mincheck) {
                     if (feature(FEATURE_MOTOR_STOP)) {
                         motor[i] = escAndServoConfig->mincommand;
+                    } else if (masterConfig.disable_pid_at_min_throttle != 0) {
+                        motor[i] = escAndServoConfig->minthrottle;
                     }
                 }
             }