diff --git a/ArduCopter/motors_quad.pde b/ArduCopter/motors_quad.pde
index 54992683bd..8066a382d7 100644
--- a/ArduCopter/motors_quad.pde
+++ b/ArduCopter/motors_quad.pde
@@ -102,7 +102,7 @@ static void output_motors_armed()
 
 	// this filter slows the acceleration of motors vs the deceleration
 	// Idea by Denny Rowland to help with his Yaw issue
-	for(int8_t i = MOT_1; i <= MOT_4; i++){
+	/*for(int8_t i = MOT_1; i <= MOT_4; i++){
 		if(motor_filtered[i] < motor_out[i]){
 			motor_filtered[i] = (motor_out[i] + motor_filtered[i]) / 2;
 		}else{
@@ -110,11 +110,38 @@ static void output_motors_armed()
 			motor_filtered[i] = motor_out[i];
 		}
 	}
-
 	APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]);
 	APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]);
 	APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]);
 	APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]);
+	*/
+
+
+	/*
+	if(g.rc_7.radio_in > 1700){
+		for(int8_t i = MOT_1; i <= MOT_4; i++){
+			motor_out[i] = (motor_previous[i] * 3 + motor_out[i]) / 4;
+			motor_previous[i] = motor_out[i];
+		}
+
+		APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
+		APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
+		APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
+		APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
+	}else{
+		APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
+		APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
+		APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
+		APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
+	}
+	//*/
+
+
+	APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
+	APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
+	APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
+	APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
+
 
 	#if INSTANT_PWM == 1
 	// InstantPWM