diff --git a/src/lib/mixer/mixer_multirotor.cpp b/src/lib/mixer/mixer_multirotor.cpp
index d7bdd3d0b599..adb3702bb060 100644
--- a/src/lib/mixer/mixer_multirotor.cpp
+++ b/src/lib/mixer/mixer_multirotor.cpp
@@ -339,7 +339,8 @@ void MultirotorMixer::mix_yaw(float yaw, float *outputs)
 		_tmp_array[i] = _rotors[i].thrust_scale;
 	}
 
-	minimize_saturation(_tmp_array, outputs, _saturation_status, -1000.f);
+	// reduce thrust only
+	minimize_saturation(_tmp_array, outputs, _saturation_status, 0.f, 1.f, true);
 }
 
 unsigned
diff --git a/src/lib/mixer/mixer_multirotor.py b/src/lib/mixer/mixer_multirotor.py
index 5420c82b3dab..b1a5b158d0fc 100755
--- a/src/lib/mixer/mixer_multirotor.py
+++ b/src/lib/mixer/mixer_multirotor.py
@@ -92,7 +92,10 @@ def mix_yaw(m_sp, u, P, u_min, u_max):
     u_r_dot = P[:,2]
     u_pp = minimize_sat(u_p, u_min, u_max+0.15, u_r_dot)
     u_T = P[:, 3]
-    u_ppp = minimize_sat(u_pp, -1000, u_max, u_T)
+    u_ppp = minimize_sat(u_pp, 0, u_max, u_T)
+    # reduce thrust only
+    if (u_ppp > (u_pp)).any():
+        u_ppp = u_pp
     return u_ppp
 
 def airmode_rp(m_sp, P, u_min, u_max):