diff --git a/flix/control.ino b/flix/control.ino
index 3e6fce2..387a12b 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -154,6 +154,27 @@ void controlRate()
 	motors[3] = constrain(motors[3], 0, 1);
 }
 
+// passthrough mode
+void controlManual()
+{
+	if (controls[RC_CHANNEL_THROTTLE] < 0.1) {
+		memset(motors, 0, sizeof(motors));
+		return;
+	}
+
+	torqueTarget = ratesTarget * 0.01;
+
+	motors[MOTOR_FRONT_LEFT] = thrustTarget + torqueTarget.y + torqueTarget.x - torqueTarget.z;
+	motors[MOTOR_FRONT_RIGHT] = thrustTarget + torqueTarget.y - torqueTarget.x + torqueTarget.z;
+	motors[MOTOR_REAR_LEFT] = thrustTarget - torqueTarget.y + torqueTarget.x + torqueTarget.z;
+	motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.y - torqueTarget.x - torqueTarget.z;
+
+	motors[0] = constrain(motors[0], 0, 1);
+	motors[1] = constrain(motors[1], 0, 1);
+	motors[2] = constrain(motors[2], 0, 1);
+	motors[3] = constrain(motors[3], 0, 1);
+}
+
 bool motorsActive()
 {
 	return motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;