diff --git a/Makefile b/Makefile
index 0233af8..377a2cc 100644
--- a/Makefile
+++ b/Makefile
@@ -7,7 +7,7 @@ CSRCS=main.c i2c.c wmp.c timer.c interrupt.c uart.c event.c matrix.c dcm.c
 CSRCS+=fisqrt.c stick.c trig.c motor.c led.c watchdog.c panic.c status.c
 CSRCS+=thrust.c
 
-#PROJOPTS=-DUSE_UART -DSEND_DCM
+#PROJOPTS=-DUSE_UART -DSEND_DCM -DSTICK_DEBUG_CALIBRATE
 
 COPTIM?=-O1
 CFLAGS=-march=armv4t -msoft-float $(COPTIM) -Wall -Werror -Wextra $(PROJOPTS)
@@ -37,6 +37,8 @@ OBJS=$(SOBJS) $(COBJS)
 
 .SUFFIXES: .elf .hex .bin
 
+$(OBJS): Makefile
+
 $(NAME).elf: $(OBJS)
 	$(CC) $(CFLAGS) -nostdlib -nostartfiles -T $(LDSCRIPT) -Wl,-Map -Wl,$(NAME).map -o $(NAME).elf $(OBJS) -lgcc
 
diff --git a/stick.c b/stick.c
index fd0d800..b769656 100644
--- a/stick.c
+++ b/stick.c
@@ -19,25 +19,32 @@
 #define TWO_PI 6.28318531f
 #define PI 3.14159265f
 
-#define MIN_X 15830
-#define MAX_X 28300
-#define CENTRE_X 22100
+#define MIN_X 14700
+#define MAX_X 29700
+#define CENTRE_X 22200
 
-#define MIN_Y 18530
-#define MAX_Y 28200
-#define CENTRE_Y 22100
+#define MIN_Y 14700
+#define MAX_Y 29700
+#define CENTRE_Y 22200
 
-#define MIN_Z 15800
-#define MAX_Z 28304
-#define CENTRE_Z 22100
+#define MIN_Z 14700
+#define MAX_Z 29700
+#define CENTRE_Z 22200
 
-#define MIN_THR 16500
-#define MAX_THR 28275
+#define MIN_THR 15700
+#define MAX_THR 29700
 
-#define MIN_REAL_THR 15830
+#define MIN_REAL_THR 14700
 
 #define CENTRE_ZONE 100
 
+/* With new TX firmware:
+ *             x      y    thr      z
+ * centre: 22192, 22222, 14687, 22196
+ * min:    14686, 14701, 14686, 14687
+ * max:    29740, 29740, 29725, 29725
+ */
+
 /* Full scale is a roll/pitch angle of 30 degrees from the vertical */
 #define SCALE_X (TWO_PI*30.0/360.0 / (MAX_X-CENTRE_X))
 #define SCALE_Y (TWO_PI*30.0/360.0 / (MAX_Y-CENTRE_Y))
@@ -77,6 +84,25 @@ void stick_update(float x, float y, float z)
 	dcm_attitude_error(x, y, z);
 }
 
+#ifdef STICK_DEBUG_CALIBRATE
+void stick_debug_calibrate()
+{
+	unsigned int t1 = timer_input(0);
+	unsigned int t2 = timer_input(1);
+	unsigned int t3 = timer_input(2);
+	unsigned int t4 = timer_input(3);
+        putstr("S:(");
+        putint(t1);
+        putstr(",");
+        putint(t2);
+        putstr(",");
+        putint(t3);
+        putstr(",");
+        putint(t4);
+        putstr(")\r\n");
+}
+#endif
+
 void stick_input(void) {
 	float x, y, z, throttle;
 	if (timer_allvalid()) {
@@ -85,6 +111,11 @@ void stick_input(void) {
 		throttle = timer_input(2);
 		z = timer_input(3);
 
+#ifdef STICK_DEBUG_CALIBRATE
+		if ((stick_counter % 20) == 0)
+			stick_debug_calibrate();
+#endif
+
 		if (!status_armed()) {
 			if ((throttle < MIN_THR) &&
 			    (x > (CENTRE_X - CENTRE_ZONE)) &&