diff --git a/firmware_mod/run.sh b/firmware_mod/run.sh
index 7c83068..2a41fe0 100755
--- a/firmware_mod/run.sh
+++ b/firmware_mod/run.sh
@@ -158,12 +158,6 @@ blue_led on
 
 ## Load motor driver module:
 insmod /driver/sample_motor.ko
-# Don't calibrate the motors for now as for newer models the endstops don't work:
-# motor hcalibrate
-# motor vcalibrate
-
-# calibrate,compatible newer models.(But the old DAFANG does not work.）
-# motor calibrate
 
 ## Determine the image sensor model:
 insmod /system/sdcard/driver/sinfo.ko
diff --git a/firmware_mod/scripts/common_functions.sh b/firmware_mod/scripts/common_functions.sh
index 2465596..083f2ec 100755
--- a/firmware_mod/scripts/common_functions.sh
+++ b/firmware_mod/scripts/common_functions.sh
@@ -171,18 +171,10 @@ motor(){
     /system/sdcard/bin/motor -d r -s "$steps"
     update_motor_pos $steps
     ;;
-  vcalibrate)
+  reset_pos_count)
     /system/sdcard/bin/motor -d v -s "$steps"
     update_motor_pos $steps
     ;;
-  hcalibrate)
-    /system/sdcard/bin/motor -d h -s "$steps"
-    update_motor_pos $steps
-    ;;
-  calibrate)
-    /system/sdcard/bin/motor -d f -s "$steps"
-    update_motor_pos $steps
-    ;;
   status)
     if [ "$2" = "horizontal" ]; then
         /system/sdcard/bin/motor -d u -s 0 | grep "x:" | awk  '{print $2}'
diff --git a/firmware_mod/www/cgi-bin/action.cgi b/firmware_mod/www/cgi-bin/action.cgi
index 0c0e93f..a3be94f 100755
--- a/firmware_mod/www/cgi-bin/action.cgi
+++ b/firmware_mod/www/cgi-bin/action.cgi
@@ -144,23 +144,12 @@ if [ -n "$F_cmd" ]; then
       motor down $F_val
     ;;
 
-    motor_vcalibrate)
-      motor vcalibrate $F_val
-    ;;
-
-    motor_hcalibrate)
-      motor hcalibrate $F_val
-    ;;
-
     motor_calibrate)
-	  # Doesn't seem to work
-      # motor calibrate $F_val
-      # Current motor driver does not differentiate between horizontal and vertical calibration
-      motor vcalibrate $F_val
+      motor reset_pos_count $F_val
     ;;
-    
+
     motor_PTZ)
-       /system/sdcard/scripts/PTZpresets.sh $F_x_axis $F_y_axis                        
+       /system/sdcard/scripts/PTZpresets.sh $F_x_axis $F_y_axis
     ;;
 
     audio_test)