diff --git a/Inc/config.h b/Inc/config.h
index 64f8f4e..7631376 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -188,7 +188,7 @@
 */
 
 // #define DEBUG_SERIAL_USART2          // left sensor board cable, disable if ADC or PPM is used!
-#if defined(VARIANT_ADC)
+#if defined(VARIANT_ADC) || defined(VARIANT_PPM)
   #define DEBUG_SERIAL_USART3          // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
 #endif
 
@@ -273,6 +273,12 @@
 */
   #define CONTROL_PPM                 // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
   #define PPM_NUM_CHANNELS    6       // total number of PPM channels to receive, even if they are not used.
+  #define PPM_DEADBAND        100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  // Min / Max values of each channel (use DEBUG to determine these values)
+  #define PPM_CH1_MAX         1000    // (0 - 1000)
+  #define PPM_CH1_MIN        -1000    // (-1000 - 0)
+  #define PPM_CH2_MAX         1000    // (0 - 1000)
+  #define PPM_CH2_MIN        -1000    // (-1000 - 0)  
 #endif
 // ############################# END OF VARIANT_PPM SETTINGS ############################
 
@@ -284,16 +290,16 @@
  * Channel 1: steering, Channel 2: speed.
 */
   #define CONTROL_PWM                         // use RC PWM as input. disable DEBUG_SERIAL_USART2!
-  // #define SUPPORT_BUTTONS                  // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
-  #define PWM_DEADBAND                100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define PWM_DEADBAND        100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define PWM_CH1_MAX                 1000    // (0 - 1000)
-  #define PWM_CH1_MIN                -1000    // (-1000 - 0)
-  #define PWM_CH2_MAX                 1000    // (0 - 1000)
-  #define PWM_CH2_MIN                -1000    // (-1000 - 0)  
-  #define FILTER                      6553    // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
-  #define SPEED_COEFFICIENT           16384   // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
-  #define STEER_COEFFICIENT           0       // 0.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case     0 = 0.0 * 2^14. If you do not want any steering, set it to 0.
+  #define PWM_CH1_MAX         1000    // (0 - 1000)
+  #define PWM_CH1_MIN        -1000    // (-1000 - 0)
+  #define PWM_CH2_MAX         1000    // (0 - 1000)
+  #define PWM_CH2_MIN        -1000    // (-1000 - 0)  
+  #define FILTER              6553    // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
+  #define SPEED_COEFFICIENT   16384   // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
+  #define STEER_COEFFICIENT   0       // 0.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case     0 = 0.0 * 2^14. If you do not want any steering, set it to 0.
+  // #define SUPPORT_BUTTONS          // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
   // #define INVERT_R_DIRECTION
   // #define INVERT_L_DIRECTION
 #endif
diff --git a/Inc/util.h b/Inc/util.h
index e39b618..07f8684 100644
--- a/Inc/util.h
+++ b/Inc/util.h
@@ -73,7 +73,7 @@ void poweroffPressCheck(void);
 
 // Read Command Function
 void readCommand(void);
-int  PWM_Signal_Correct(int16_t u,  int16_t min, int16_t max);
+int  addDeadBand(int16_t u, int16_t deadBand, int16_t min, int16_t max);
 
 // Sideboard functions
 void sideboardLeds(uint8_t *leds);
diff --git a/Src/main.c b/Src/main.c
index bade613..de2b5c3 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -82,8 +82,11 @@ extern SerialSideboard Sideboard_L;
 #if defined(SIDEBOARD_SERIAL_USART3)
 extern SerialSideboard Sideboard_R;
 #endif
+#if defined(CONTROL_PPM) && defined(DEBUG_SERIAL_USART3)
+extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
+#endif
 #if defined(CONTROL_PWM) && defined(DEBUG_SERIAL_USART3)
-//extern volatile uint16_t pwm_captured_ch1_value;
+extern volatile uint16_t pwm_captured_ch1_value;
 extern volatile uint16_t pwm_captured_ch2_value;
 #endif
 
@@ -385,8 +388,12 @@ int main(void) {
         setScopeChannel(0, (int16_t)adc_buffer.l_tx2);          // 1: ADC1
         setScopeChannel(1, (int16_t)adc_buffer.l_rx2);          // 2: ADC2
         #endif
+        #ifdef CONTROL_PPM
+        setScopeChannel(0, ppm_captured_value[0]);              // 1: CH1
+        setScopeChannel(1, ppm_captured_value[1]);              // 2: CH2
+        #endif
         #ifdef CONTROL_PWM
-        setScopeChannel(0, 0);//pwm_captured_ch1_value);        // 1: CH1
+        setScopeChannel(0, pwm_captured_ch1_value);             // 1: CH1
         setScopeChannel(1, pwm_captured_ch2_value);             // 2: CH2
         #endif
         setScopeChannel(2, (int16_t)speedR);                    // 3: output command: [-1000, 1000]
diff --git a/Src/util.c b/Src/util.c
index 69ed6df..81181d9 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -637,8 +637,8 @@ void readCommand(void) {
     #endif
 
     #ifdef CONTROL_PPM
-      cmd1 = CLAMP((ppm_captured_value[0] - 500) * 2, INPUT_MIN, INPUT_MAX);
-      cmd2 = CLAMP((ppm_captured_value[1] - 500) * 2, INPUT_MIN, INPUT_MAX);
+      cmd1 = CLAMP(addDeadBand((ppm_captured_value[0] - 500) * 2, PPM_DEADBAND, PPM_CH1_MIN, PPM_CH1_MAX), INPUT_MIN, INPUT_MAX);
+      cmd2 = CLAMP(addDeadBand((ppm_captured_value[1] - 500) * 2, PPM_DEADBAND, PPM_CH1_MIN, PPM_CH1_MAX), INPUT_MIN, INPUT_MAX);
 			#ifdef SUPPORT_BUTTONS
 				button1 = ppm_captured_value[5] > 500;
 				button2 = 0;
@@ -647,8 +647,8 @@ void readCommand(void) {
     #endif
 
     #ifdef CONTROL_PWM
-      cmd1 = CLAMP(PWM_Signal_Correct((pwm_captured_ch1_value - 500) * 2, PWM_CH1_MIN, PWM_CH1_MAX), INPUT_MIN, INPUT_MAX);
-      cmd2 = CLAMP(PWM_Signal_Correct((pwm_captured_ch2_value - 500) * 2, PWM_CH2_MIN, PWM_CH2_MAX), INPUT_MIN, INPUT_MAX);
+      cmd1 = CLAMP(addDeadBand((pwm_captured_ch1_value - 500) * 2, PWM_DEADBAND, PWM_CH1_MIN, PWM_CH1_MAX), INPUT_MIN, INPUT_MAX);
+      cmd2 = CLAMP(addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, PWM_CH2_MAX), INPUT_MIN, INPUT_MAX);
       #ifdef SUPPORT_BUTTONS
         button1 = !HAL_GPIO_ReadPin(BUTTON1_RIGHT_PORT, BUTTON1_RIGHT_PIN);
         button2 = !HAL_GPIO_ReadPin(BUTTON2_RIGHT_PORT, BUTTON2_RIGHT_PIN);
@@ -842,18 +842,18 @@ void readCommand(void) {
 
 
  /*
- * PWM Signal Correction
+ * Add Dead-band to a signal
  * This function realizes a dead-band around 0 and scales the input within a min and a max
  */
-int PWM_Signal_Correct(int16_t u,  int16_t min, int16_t max) {
-#ifdef CONTROL_PWM
+int addDeadBand(int16_t u, int16_t deadBand, int16_t min, int16_t max) {
+#if defined(CONTROL_PPM) || defined(CONTROL_PWM)
   int outVal = 0;
-  if(u > -PWM_DEADBAND && u < PWM_DEADBAND) {
+  if(u > -deadBand && u < deadBand) {
     outVal = 0;
   } else if(u > 0) {
-    outVal = (INPUT_MAX * CLAMP(u - PWM_DEADBAND, 0, max - PWM_DEADBAND)) / (max - PWM_DEADBAND);
+    outVal = (INPUT_MAX * CLAMP(u - deadBand, 0, max - deadBand)) / (max - deadBand);
   } else {
-    outVal = (INPUT_MIN * CLAMP(u + PWM_DEADBAND, min + PWM_DEADBAND, 0)) / (min + PWM_DEADBAND);
+    outVal = (INPUT_MIN * CLAMP(u + deadBand, min + deadBand, 0)) / (min + deadBand);
   }
   return outVal;
 #else