diff --git a/docs/assets/setup/Motors.png b/docs/assets/setup/Motors.png
index bb523741b13..68e0b321727 100644
Binary files a/docs/assets/setup/Motors.png and b/docs/assets/setup/Motors.png differ
diff --git a/docs/en/qgc-user-guide/setup_view/motors.md b/docs/en/qgc-user-guide/setup_view/motors.md
index f04acd81dfd..01b69188c85 100644
--- a/docs/en/qgc-user-guide/setup_view/motors.md
+++ b/docs/en/qgc-user-guide/setup_view/motors.md
@@ -19,14 +19,21 @@ To test the motors:
    You must remove props before activating the motors!
    :::
 
-1. (_PX4-only_) Enable safety switch - if used.
-1. Slide the switch to enable motor sliders (labeled: _Propellers are removed - Enable motor sliders_).
-1. Adjust the individual sliders to spin the motors and confirm they spin in the correct direction.
+2. (_PX4-only_) Enable safety switch - if used.
+
+3. Slide the switch to enable motor slider and buttons (labeled: _Propellers are removed - Enable slider and motors_).
+
+4. Adjust the slider to select the power for the motors.
+
+5. Press the button corresponding to the motor and confirm it spin in the correct direction.
 
    ::: info
-   The motors only spin after you release the slider and will automatically stop spinning after 3 seconds.
+   The motors will automatically stop spinning after 3 seconds.
+   You can also stop the motor by pressing the 'Stop' button.
+   If no motors turn, raise the “Throttle %” and try again.
    :::
 
 ## Additional Information
 
 - [Basic Configuration > Motor Setup](http://docs.px4.io/master/en/config/motors.html) (_PX4 User Guide_) - This contains additional PX4-specific information.
+- [ESCS and Motors](https://ardupilot.org/copter/docs/connect-escs-and-motors.html#motor-order-diagrams) - This is the Motor order diagrams for all frames
diff --git a/src/AutoPilotPlugins/APM/APMMotorComponent.qml b/src/AutoPilotPlugins/APM/APMMotorComponent.qml
index d9325bccbaf..507672921bb 100644
--- a/src/AutoPilotPlugins/APM/APMMotorComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMMotorComponent.qml
@@ -22,7 +22,7 @@ SetupPage {
 
     readonly property int _barHeight:           10
     readonly property int _barWidth:            5
-    readonly property int _sliderHeight:        10
+    readonly property int _sliderWidth:         15
     readonly property int _motorTimeoutSecs:    3
 
     FactPanelController {
@@ -42,86 +42,69 @@ SetupPage {
             }
 
             Row {
-                id:         motorSliders
+                id:         motorSlider
                 enabled:    safetySwitch.checked
                 spacing:    ScreenTools.defaultFontPixelWidth * 4
+                
+                ValueSlider {
+                    id:                 sliderThrottle
+                    width:              motorButtons.width
+                    label:              qsTr("Throttle")
+                    from:               0
+                    to:                 100
+                    majorTickStepSize:  5
+                    decimalPlaces: 0
+                    unitsString: qsTr("%")
+                }
+            } // Row
 
-                Repeater {
-                    id:         sliderRepeater
-                    model:      controller.vehicle.motorCount == -1 ? 8 : controller.vehicle.motorCount
-
-                    Column {
-                        property alias motorSlider: slider
+            QGCLabel {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                wrapMode:       Text.WordWrap
+                text:           qsTr("Make sure you remove all props.")
+            }
 
-                        QGCLabel {
-                            anchors.horizontalCenter:   parent.horizontalCenter
-                            text:                       vehicleComponent.motorIndexToLetter(index)
-                        }
+            Row {
+                id:         motorButtons
+                enabled:    safetySwitch.checked
+                spacing:    ScreenTools.defaultFontPixelWidth * 4
 
-                        QGCSlider {
-                            id:                         slider
-                            height:                     ScreenTools.defaultFontPixelHeight * _sliderHeight
-                            orientation:                Qt.Vertical
-                            from:               0
-                            to:               100
-                            stepSize:                   1
-                            value:                      0
-                            live:   false
-
-                            onValueChanged: {
-                                controller.vehicle.motorTest(index + 1, value, value == 0 ? 0 : _motorTimeoutSecs, true)
-                                if (value != 0) {
-                                    motorTimer.restart()
-                                }
-                            }
-
-                            Timer {
-                                id:             motorTimer
-                                interval:       _motorTimeoutSecs * 1000
-                                repeat:         false
-                                running:        false
-
-                                onTriggered: {
-                                    allSlider.value = 0
-                                    slider.value = 0
-                                }
-                            }
+                Repeater {
+                    id:         buttonRepeater
+                    model:      controller.vehicle.motorCount === -1 ? 8 : controller.vehicle.motorCount
+
+                    QGCButton {
+                        id:         button
+                        anchors.verticalCenter:     parent.verticalCenter
+                        text:       vehicleComponent.motorIndexToLetter(index)
+                        onClicked:  {
+                            controller.vehicle.motorTest(index + 1, sliderThrottle.value, sliderThrottle.value === 0 ? 0 : _motorTimeoutSecs, true)
                         }
-                    } // Column
+                    }
                 } // Repeater
 
-                Column {
-                    QGCLabel {
-                        anchors.horizontalCenter:   parent.horizontalCenter
-                        text:                       qsTr("All")
+                QGCButton {
+                    id:         allButton
+                    text:       qsTr("All")
+                    onClicked:  {
+                        for (var motorIndex=0; motorIndex<buttonRepeater.count; motorIndex++) {
+                            controller.vehicle.motorTest(motorIndex + 1, sliderThrottle.value, sliderThrottle.value === 0 ? 0 : _motorTimeoutSecs, true)
+                        }
                     }
+                }
 
-                    QGCSlider {
-                        id:                         allSlider
-                        height:                     ScreenTools.defaultFontPixelHeight * _sliderHeight
-                        orientation:                Qt.Vertical
-                        from:               0
-                        to:               100
-                        stepSize:                   1
-                        value:                      0
-                        live:   false
-
-                        onValueChanged: {
-                            for (var sliderIndex=0; sliderIndex<sliderRepeater.count; sliderIndex++) {
-                                sliderRepeater.itemAt(sliderIndex).motorSlider.value = allSlider.value
-                            }
+                QGCButton {
+                    id:         allStopButton
+                    text:       qsTr("Stop")
+                    onClicked:  {
+                        for (var motorIndex=0; motorIndex<buttonRepeater.count; motorIndex++) {
+                            controller.vehicle.motorTest(motorIndex + 1, 0, 0, true)
                         }
                     }
-                } // Column
+                }
             } // Row
 
-            QGCLabel {
-                anchors.left:   parent.left
-                anchors.right:  parent.right
-                wrapMode:       Text.WordWrap
-                text:           qsTr("Moving the sliders will causes the motors to spin. Make sure you remove all props.")
-            }
-
             Row {
                 spacing: ScreenTools.defaultFontPixelWidth
 
@@ -129,19 +112,17 @@ SetupPage {
                     id: safetySwitch
                     onClicked: {
                         if (!checked) {
-                            for (var sliderIndex=0; sliderIndex<sliderRepeater.count; sliderIndex++) {
-                                sliderRepeater.itemAt(sliderIndex).motorSlider.value = 0
-                            }
-                            allSlider.value = 0
+                            sliderThrottle.setValue(0);
                         }
                     }
                 }
 
                 QGCLabel {
+                    anchors.verticalCenter:     parent.verticalCenter
                     color:  qgcPal.warningText
-                    text:   safetySwitch.checked ? qsTr("Careful: Motor sliders are enabled") : qsTr("Propellers are removed - Enable motor sliders")
+                    text:   safetySwitch.checked ? qsTr("Careful : Motors are enabled") : qsTr("Propellers are removed - Enable slider and motors")
                 }
             } // Row
         } // Column
     } // Component
-} // SetupPahe
+} // SetupPage
diff --git a/src/AutoPilotPlugins/APM/APMSubMotorComponent.qml b/src/AutoPilotPlugins/APM/APMSubMotorComponent.qml
index ba9a53719ff..59c32938e6f 100644
--- a/src/AutoPilotPlugins/APM/APMSubMotorComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMSubMotorComponent.qml
@@ -306,4 +306,4 @@ SetupPage {
             }
         } // Column
     } // Component
-} // SetupPahe
+} // SetupPage
diff --git a/src/AutoPilotPlugins/Common/MotorComponent.qml b/src/AutoPilotPlugins/Common/MotorComponent.qml
index d91a599c798..f800508e6ba 100644
--- a/src/AutoPilotPlugins/Common/MotorComponent.qml
+++ b/src/AutoPilotPlugins/Common/MotorComponent.qml
@@ -22,7 +22,7 @@ SetupPage {
 
     readonly property int _barHeight:           10
     readonly property int _barWidth:            5
-    readonly property int _sliderHeight:        10
+    readonly property int _sliderWidth:         15
     readonly property int _motorTimeoutSecs:    3
 
     FactPanelController {
@@ -42,86 +42,69 @@ SetupPage {
             }
 
             Row {
-                id:         motorSliders
+                id:         motorSlider
                 enabled:    safetySwitch.checked
                 spacing:    ScreenTools.defaultFontPixelWidth * 4
+                
+                ValueSlider {
+                    id:                 sliderThrottle
+                    width:              motorButtons.width
+                    label:              qsTr("Throttle")
+                    from:               0
+                    to:                 100
+                    majorTickStepSize:  5
+                    decimalPlaces: 0
+                    unitsString: qsTr("%")
+                }
+            } // Row
 
-                Repeater {
-                    id:         sliderRepeater
-                    model:      controller.vehicle.motorCount == -1 ? 8 : controller.vehicle.motorCount
-
-                    Column {
-                        property alias motorSlider: slider
+            QGCLabel {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                wrapMode:       Text.WordWrap
+                text:           qsTr("Make sure you remove all props.")
+            }
 
-                        QGCLabel {
-                            anchors.horizontalCenter:   parent.horizontalCenter
-                            text:                       index + 1
-                        }
+            Row {
+                id:         motorButtons
+                enabled:    safetySwitch.checked
+                spacing:    ScreenTools.defaultFontPixelWidth * 4
 
-                        QGCSlider {
-                            id:                         slider
-                            height:                     ScreenTools.defaultFontPixelHeight * _sliderHeight
-                            orientation:                Qt.Vertical
-                            from:               0
-                            to:               100
-                            stepSize:                   1
-                            value:                      0
-                            live:   false
-
-                            onValueChanged: {
-                                controller.vehicle.motorTest(index + 1, value, value == 0 ? 0 : _motorTimeoutSecs, true)
-                                if (value != 0) {
-                                    motorTimer.restart()
-                                }
-                            }
-
-                            Timer {
-                                id:             motorTimer
-                                interval:       _motorTimeoutSecs * 1000
-                                repeat:         false
-                                running:        false
-
-                                onTriggered: {
-                                    allSlider.value = 0
-                                    slider.value = 0
-                                }
-                            }
+                Repeater {
+                    id:         buttonRepeater
+                    model:      controller.vehicle.motorCount === -1 ? 8 : controller.vehicle.motorCount
+
+                    QGCButton {
+                        id:         button
+                        anchors.verticalCenter:     parent.verticalCenter
+                        text:       index + 1
+                        onClicked:  {
+                            controller.vehicle.motorTest(index + 1, sliderThrottle.value, sliderThrottle.value === 0 ? 0 : _motorTimeoutSecs, true)
                         }
-                    } // Column
+                    }
                 } // Repeater
 
-                Column {
-                    QGCLabel {
-                        anchors.horizontalCenter:   parent.horizontalCenter
-                        text:                       qsTr("All")
+                QGCButton {
+                    id:         allButton
+                    text:       qsTr("All")
+                    onClicked:  {
+                        for (var motorIndex=0; motorIndex<buttonRepeater.count; motorIndex++) {
+                            controller.vehicle.motorTest(motorIndex + 1, sliderThrottle.value, sliderThrottle.value === 0 ? 0 : _motorTimeoutSecs, true)
+                        }
                     }
+                }
 
-                    QGCSlider {
-                        id:                         allSlider
-                        height:                     ScreenTools.defaultFontPixelHeight * _sliderHeight
-                        orientation:                Qt.Vertical
-                        from:               0
-                        to:               100
-                        stepSize:                   1
-                        value:                      0
-                        live:   false
-
-                        onValueChanged: {
-                            for (var sliderIndex=0; sliderIndex<sliderRepeater.count; sliderIndex++) {
-                                sliderRepeater.itemAt(sliderIndex).motorSlider.value = allSlider.value
-                            }
+                QGCButton {
+                    id:         allStopButton
+                    text:       qsTr("Stop")
+                    onClicked:  {
+                        for (var motorIndex=0; motorIndex<buttonRepeater.count; motorIndex++) {
+                            controller.vehicle.motorTest(motorIndex + 1, 0, 0, true)
                         }
                     }
-                } // Column
+                }
             } // Row
 
-            QGCLabel {
-                anchors.left:   parent.left
-                anchors.right:  parent.right
-                wrapMode:       Text.WordWrap
-                text:           qsTr("Moving the sliders will causes the motors to spin. Make sure you remove all props.")
-            }
-
             Row {
                 spacing: ScreenTools.defaultFontPixelWidth
 
@@ -129,19 +112,17 @@ SetupPage {
                     id: safetySwitch
                     onClicked: {
                         if (!checked) {
-                            for (var sliderIndex=0; sliderIndex<sliderRepeater.count; sliderIndex++) {
-                                sliderRepeater.itemAt(sliderIndex).motorSlider.value = 0
-                            }
-                            allSlider.value = 0
+                            sliderThrottle.setValue(0);
                         }
                     }
                 }
 
                 QGCLabel {
+                    anchors.verticalCenter:     parent.verticalCenter
                     color:  qgcPal.warningText
-                    text:   safetySwitch.checked ? qsTr("Careful: Motor sliders are enabled") : qsTr("Propellers are removed - Enable motor sliders")
+                    text:   safetySwitch.checked ? qsTr("Careful : Motors are enabled") : qsTr("Propellers are removed - Enable slider and motors")
                 }
             } // Row
         } // Column
     } // Component
-} // SetupPahe
+} // SetupPage