diff --git a/sw/airborne/firmwares/rotorcraft/actuators/supervision.c b/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
index 41fb17c3cf..6d96d6c0e6 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
@@ -61,9 +61,10 @@
 /** total supervision command scale.
  * scales a command input [-MAX_PPRZ,MAX_PPRZ]
  * to the final supervision motor command with range of
- * [0,SUPERVISION_MAX_MOTOR-SUPERVISION_MIN_MOTOR]
+ * [SUPERVISION_MIN_MOTOR,SUPERVISION_MAX_MOTOR]
+ * or sets it to SUPERVISION_STOP_MOTOR
  */
-#define SUPERVISION_CMD_SCALE (((SUPERVISION_MAX_MOTOR - SUPERVISION_MIN_MOTOR) / MAX_PPRZ) /SUPERVISION_SCALE)
+#define SUPERVISION_CMD_SCALE (SUPERVISION_MAX_MOTOR - SUPERVISION_MIN_MOTOR) / (MAX_PPRZ * SUPERVISION_SCALE)
 
 static const int32_t roll_coef[SUPERVISION_NB_MOTOR]   = SUPERVISION_ROLL_COEF;
 static const int32_t pitch_coef[SUPERVISION_NB_MOTOR]  = SUPERVISION_PITCH_COEF;
@@ -152,12 +153,12 @@ void supervision_run(bool_t motors_on, bool_t override_on, int32_t in_cmd[] ) {
     int32_t min_cmd = INT32_MAX;
     int32_t max_cmd = INT32_MIN;
     for (i=0; i<SUPERVISION_NB_MOTOR; i++) {
-      supervision.commands[i] =
+      supervision.commands[i] = SUPERVISION_MIN_MOTOR +
         (thrust_coef[i] * in_cmd[COMMAND_THRUST] +
          roll_coef[i]   * in_cmd[COMMAND_ROLL]   +
          pitch_coef[i]  * in_cmd[COMMAND_PITCH]  +
          yaw_coef[i]    * in_cmd[COMMAND_YAW]    +
-         supervision.trim[i] + SUPERVISION_MIN_MOTOR) * SUPERVISION_CMD_SCALE;
+         supervision.trim[i]) * SUPERVISION_CMD_SCALE;
       if (supervision.commands[i] < min_cmd)
         min_cmd = supervision.commands[i];
       if (supervision.commands[i] > max_cmd)