diff --git a/src/modules/interface/power_distribution.h b/src/modules/interface/power_distribution.h
index 8167514d35..59583312d8 100644
--- a/src/modules/interface/power_distribution.h
+++ b/src/modules/interface/power_distribution.h
@@ -31,6 +31,7 @@
 void powerDistributionInit(void);
 bool powerDistributionTest(void);
 void powerDistribution(const control_t *control);
+void powerDistributionDirect(const setpoint_t *setpoint);
 void powerStop();
 
 
diff --git a/src/modules/src/power_distribution_stock.c b/src/modules/src/power_distribution_stock.c
index 0e66c0b85e..f9ded0afa1 100644
--- a/src/modules/src/power_distribution_stock.c
+++ b/src/modules/src/power_distribution_stock.c
@@ -107,6 +107,31 @@ void powerDistribution(const control_t *control)
   }
 }
 
+
+void powerDistributionDirect(const setpoint_t *setpoint)
+{
+    // expects floats as thrust measure as percentage in the range 0 to 100.0
+    motorPower.m1 = limitThrust((int) (setpoint->motorControl.topLeft/100.0f * 65536));
+    motorPower.m2 = limitThrust((int) (setpoint->motorControl.topRight/100.0f * 65536));
+    motorPower.m3 =  limitThrust((int) (setpoint->motorControl.bottomLeft/100.0f * 65536));
+    motorPower.m4 =  limitThrust((int)(setpoint->motorControl.bottomRight/100.0f * 65536));
+  // TODO unsure what this flag does
+  if (motorSetEnable)
+  {
+    motorsSetRatio(MOTOR_M1, motorPowerSet.m1);
+    motorsSetRatio(MOTOR_M2, motorPowerSet.m2);
+    motorsSetRatio(MOTOR_M3, motorPowerSet.m3);
+    motorsSetRatio(MOTOR_M4, motorPowerSet.m4);
+  }
+  else
+  {
+    motorsSetRatio(MOTOR_M1, motorPower.m1);
+    motorsSetRatio(MOTOR_M2, motorPower.m2);
+    motorsSetRatio(MOTOR_M3, motorPower.m3);
+    motorsSetRatio(MOTOR_M4, motorPower.m4);
+  }
+}
+
 PARAM_GROUP_START(motorPowerSet)
 PARAM_ADD(PARAM_UINT8, enable, &motorSetEnable)
 PARAM_ADD(PARAM_UINT16, m1, &motorPowerSet.m1)
diff --git a/src/modules/src/stabilizer.c b/src/modules/src/stabilizer.c
index 48f436f22d..7590b131b3 100644
--- a/src/modules/src/stabilizer.c
+++ b/src/modules/src/stabilizer.c
@@ -129,17 +129,21 @@ static void stabilizerTask(void* param)
 
     commanderGetSetpoint(&setpoint, &state);
 
-    sitAwUpdateSetpoint(&setpoint, &sensorData, &state);
+    // Update of setpoint according to current state seems unnecessary
+    //sitAwUpdateSetpoint(&setpoint, &sensorData, &state);
 
-    stateController(&control, &setpoint, &sensorData, &state, tick);
+    // Seems also unnecessary but we could include some ramping or of course an actual controller
+    //stateController(&control, &setpoint, &sensorData, &state, tick);
 
     checkEmergencyStopTimeout();
 
-    if (emergencyStop) {
-      powerStop();
-    } else {
-      powerDistribution(&control);
-    }
+    // if (emergencyStop) {
+    //   powerStop();
+    // } else {
+      //FIXME I would maybe overload the power distribution directly on the setpoint_t struct
+      //powerDistribution(&control);
+      powerDistributionDirect(&setpoint);
+    // }
 
     tick++;
   }