diff --git a/src/drivers/linux_pwm_out/module.yaml b/src/drivers/linux_pwm_out/module.yaml
index 133e04e155..abc29c704c 100644
--- a/src/drivers/linux_pwm_out/module.yaml
+++ b/src/drivers/linux_pwm_out/module.yaml
@@ -4,7 +4,7 @@ actuator_output:
     - param_prefix: PWM_MAIN
       channel_label: 'Channel'
       standard_params:
-        disarmed: { min: 800, max: 2200, default: 900 }
+        disarmed: { min: 800, max: 2200, default: 1000 }
         min: { min: 800, max: 1400, default: 1000 }
         max: { min: 1600, max: 2200, default: 2000 }
         failsafe: { min: 800, max: 2200 }
diff --git a/src/drivers/pca9685_pwm_out/module.yaml b/src/drivers/pca9685_pwm_out/module.yaml
index 8833091e3c..ba12dccf1d 100644
--- a/src/drivers/pca9685_pwm_out/module.yaml
+++ b/src/drivers/pca9685_pwm_out/module.yaml
@@ -4,7 +4,7 @@ actuator_output:
     - param_prefix: PCA9685
       channel_label: 'Channel'
       standard_params:
-        disarmed: { min: 800, max: 2200, default: 900 }
+        disarmed: { min: 800, max: 2200, default: 1000 }
         min: { min: 800, max: 1400, default: 1000 }
         max: { min: 1600, max: 2200, default: 2000 }
         failsafe: { min: 800, max: 2200 }
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index 3a93e0e9d6..6b482a36f7 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -218,42 +218,55 @@ void PWMOut::update_params()
 
 	updateParams();
 
-	// Automatically set the PWM rate and disarmed value when a channel is first set to a servo
+	// Automatically set PWM configuration when a channel is first assigned
 	if (!_first_update_cycle) {
 		for (size_t i = 0; i < _num_outputs; i++) {
 			if ((previously_set_functions & (1u << i)) == 0 && _mixing_output.functionParamHandle(i) != PARAM_INVALID) {
 				int32_t output_function;
 
-				if (param_get(_mixing_output.functionParamHandle(i), &output_function) == 0
-				    && output_function >= (int)OutputFunction::Servo1
-				    && output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo
-					int32_t val = 1500;
-					PX4_INFO("Setting disarmed to %i for channel %i", (int) val, i);
-					param_set(_mixing_output.disarmedParamHandle(i), &val);
+				if (param_get(_mixing_output.functionParamHandle(i), &output_function) == 0) {
+					// Servos need PWM rate 50Hz and disramed value 1500us
+					if (output_function >= (int)OutputFunction::Servo1
+					    && output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo
+						int32_t val = 1500;
+						PX4_INFO("Setting channel %i disarmed to %i", (int) val, i);
+						param_set(_mixing_output.disarmedParamHandle(i), &val);
 
-					// If the whole timer group was not set previously, then set the pwm rate to 50 Hz
-					for (int timer = 0; timer < MAX_IO_TIMERS; ++timer) {
+						// If the whole timer group was not set previously, then set the pwm rate to 50 Hz
+						for (int timer = 0; timer < MAX_IO_TIMERS; ++timer) {
 
-						uint32_t channels = io_timer_get_group(timer);
+							uint32_t channels = io_timer_get_group(timer);
 
-						if ((channels & (1u << i)) == 0) {
-							continue;
-						}
+							if ((channels & (1u << i)) == 0) {
+								continue;
+							}
 
-						if ((channels & previously_set_functions) == 0) { // None of the channels was set
-							char param_name[17];
-							snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer);
+							if ((channels & previously_set_functions) == 0) { // None of the channels was set
+								char param_name[17];
+								snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer);
 
-							int32_t tim_config = 0;
-							param_t handle = param_find(param_name);
+								int32_t tim_config = 0;
+								param_t handle = param_find(param_name);
 
-							if (param_get(handle, &tim_config) == 0 && tim_config == 400) {
-								tim_config = 50;
-								PX4_INFO("setting timer %i to %i Hz", timer, (int) tim_config);
-								param_set(handle, &tim_config);
+								if (param_get(handle, &tim_config) == 0 && tim_config == 400) {
+									tim_config = 50;
+									PX4_INFO("setting timer %i to %i Hz", timer, (int) tim_config);
+									param_set(handle, &tim_config);
+								}
 							}
 						}
 					}
+
+					// Motors need a minimum value that idles the motor and have a deadzone at the top of the range
+					if (output_function >= (int)OutputFunction::Motor1
+					    && output_function <= (int)OutputFunction::MotorMax) { // Function got set to a motor
+						int32_t val = 1100;
+						PX4_INFO("Setting channel %i minimum to %i", (int) val, i);
+						param_set(_mixing_output.minParamHandle(i), &val);
+						val = 1900;
+						PX4_INFO("Setting channel %i maximum to %i", (int) val, i);
+						param_set(_mixing_output.maxParamHandle(i), &val);
+					}
 				}
 			}
 		}
diff --git a/src/drivers/pwm_out/module.yaml b/src/drivers/pwm_out/module.yaml
index 733276c678..a55af5fae2 100644
--- a/src/drivers/pwm_out/module.yaml
+++ b/src/drivers/pwm_out/module.yaml
@@ -5,7 +5,7 @@ actuator_output:
       param_prefix: '${PWM_MAIN_OR_AUX}'
       channel_labels: ['${PWM_MAIN_OR_AUX}', '${PWM_MAIN_OR_AUX_CAP}']
       standard_params:
-        disarmed: { min: 800, max: 2200, default: 900 }
+        disarmed: { min: 800, max: 2200, default: 1000 }
         min: { min: 800, max: 1400, default: 1000 }
         max: { min: 1600, max: 2200, default: 2000 }
         failsafe: { min: 800, max: 2200 }
diff --git a/src/drivers/px4io/module.yaml b/src/drivers/px4io/module.yaml
index 5b5a197579..01d21a4afe 100644
--- a/src/drivers/px4io/module.yaml
+++ b/src/drivers/px4io/module.yaml
@@ -7,7 +7,7 @@ actuator_output:
       channel_label_module_name_prefix: false
       timer_config_file: "boards/px4/io-v2/src/timer_config.cpp"
       standard_params:
-        disarmed: { min: 800, max: 2200, default: 900 }
+        disarmed: { min: 800, max: 2200, default: 1000 }
         min: { min: 800, max: 1400, default: 1000 }
         max: { min: 1600, max: 2200, default: 2000 }
         failsafe: { min: 800, max: 2200 }
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 20bdfcb96e..21c0a53b2b 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -702,36 +702,48 @@ void PX4IO::update_params()
 				if ((previously_set_functions & (1u << i)) == 0 && _mixing_output.functionParamHandle(i) != PARAM_INVALID) {
 					int32_t output_function;
 
-					if (param_get(_mixing_output.functionParamHandle(i), &output_function) == 0
-					    && output_function >= (int)OutputFunction::Servo1
-					    && output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo
-						int32_t val = 1500;
-						PX4_INFO("Setting disarmed to %i for channel %i", (int) val, i);
-						param_set(_mixing_output.disarmedParamHandle(i), &val);
+					if (param_get(_mixing_output.functionParamHandle(i), &output_function) == 0) {
+						if (output_function >= (int)OutputFunction::Servo1
+						    && output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo
+							int32_t val = 1500;
+							PX4_INFO("Setting channel %i disarmed to %i", (int) val, i);
+							param_set(_mixing_output.disarmedParamHandle(i), &val);
 
-						// If the whole timer group was not set previously, then set the pwm rate to 50 Hz
-						for (int timer = 0; timer < (int)(sizeof(_group_channels) / sizeof(_group_channels[0])); ++timer) {
+							// If the whole timer group was not set previously, then set the pwm rate to 50 Hz
+							for (int timer = 0; timer < (int)(sizeof(_group_channels) / sizeof(_group_channels[0])); ++timer) {
 
-							uint32_t channels = _group_channels[timer];
+								uint32_t channels = _group_channels[timer];
 
-							if ((channels & (1u << i)) == 0) {
-								continue;
-							}
+								if ((channels & (1u << i)) == 0) {
+									continue;
+								}
 
-							if ((channels & previously_set_functions) == 0) { // None of the channels was set
-								char param_name[17];
-								snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer);
+								if ((channels & previously_set_functions) == 0) { // None of the channels was set
+									char param_name[17];
+									snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer);
 
-								int32_t tim_config = 0;
-								param_t handle = param_find(param_name);
+									int32_t tim_config = 0;
+									param_t handle = param_find(param_name);
 
-								if (param_get(handle, &tim_config) == 0 && tim_config == 400) {
-									tim_config = 50;
-									PX4_INFO("setting timer %i to %i Hz", timer, (int) tim_config);
-									param_set(handle, &tim_config);
+									if (param_get(handle, &tim_config) == 0 && tim_config == 400) {
+										tim_config = 50;
+										PX4_INFO("setting timer %i to %i Hz", timer, (int) tim_config);
+										param_set(handle, &tim_config);
+									}
 								}
 							}
 						}
+
+						// Motors need a minimum value that idles the motor
+						if (output_function >= (int)OutputFunction::Motor1
+						    && output_function <= (int)OutputFunction::MotorMax) { // Function got set to a motor
+							int32_t val = 1100;
+							PX4_INFO("Setting channel %i minimum to %i", (int) val, i);
+							param_set(_mixing_output.minParamHandle(i), &val);
+							val = 1900;
+							PX4_INFO("Setting channel %i maximum to %i", (int) val, i);
+							param_set(_mixing_output.maxParamHandle(i), &val);
+						}
 					}
 				}
 			}
diff --git a/src/lib/mixer_module/mixer_module.hpp b/src/lib/mixer_module/mixer_module.hpp
index d3dda97e83..8c704eb903 100644
--- a/src/lib/mixer_module/mixer_module.hpp
+++ b/src/lib/mixer_module/mixer_module.hpp
@@ -179,6 +179,8 @@ public:
 
 	param_t functionParamHandle(int index) const { return _param_handles[index].function; }
 	param_t disarmedParamHandle(int index) const { return _param_handles[index].disarmed; }
+	param_t minParamHandle(int index) const { return _param_handles[index].min; }
+	param_t maxParamHandle(int index) const { return _param_handles[index].max; }
 
 	/**
 	 * Returns the actual failsafe value taking into account the assigned function