H-Bridge Questions (using Mosfets)

Hi Guys,
I asked before about H-Bridge Mosfets.
Currently My circuit is working prety good, see at:
YouTube - roeebloch's Channel
I have 2 x N-CH and 2 x Pch
The N-ch is driven directly through Pic output (through 47 ohm resistor)
My P-CH is driven through PushPull
I have 2 x PWM signals and 2 x '0' or '1' logic
But I have noticed something strange:

1.IF I connect my PWM to N-CH and P-CH to logic my Power boards gets very hot after 5 minuets of driving but my system is very stable (the segway is balanced good)
2. If I connect my PWM to P-ch and logic to N-CH the system is working, not very stable, but Mosfets do not get a lot of heat even after few minuets of driving.

Does any one have any idea why this is happening?
Thanks,
Roee.

maybe you don't have any deadtime programmed in the circuit so there is shot-through?

deadtime

Hi,
This is not the case.
It happens also if I am riding just forward - in this case you don't need any dead time.
Also I am telling here that if I change commands to P and N (and anything else is the same) I get different heat ....
Also I guess that I should get some heat ... The current is high.
Thanks,
Roee.

Posting your schematic might be helpful.