In addition to the base resistors on the PNP transistors, you should put base resistors on the TIP122 transistors (total 4 places), perhaps 4k7 ohm (4.7k).
If you don't need 10A then it should be good the way it is.
If you really need 10A you'll want to decrease the resistors in the bases of the TIP147s and TIP42s. (Another 1K in parallel, or Mikebits suggestion of 120 ohm 1W is good). You'll also want to change the pull up resistors on the lower TIP drivers.
The original circuit had the micro-controller driving the dead short of the base of the TIP122 darlington transistors, and the TIP122 darlington transistors driving the dead short of the base of the TIP147 darlington transistors.
Hi Cry Wolf, can you post your Dia. with the revisions. I'm trying to make the same circuit. DC motor only 6 amp with added e-brake, controlled by PWM 30 amp.
Thanks in advance