diff --git a/firmware/chibios/os/various/chprintf.c b/firmware/chibios/os/various/chprintf.c
index 8848c6bd02..af19e6da74 100644
--- a/firmware/chibios/os/various/chprintf.c
+++ b/firmware/chibios/os/various/chprintf.c
@@ -271,7 +271,9 @@ unsigned_common:
         chSequentialStreamPut(chp, (uint8_t)filler);
       } while (++width != 0);
     }
-    chSequentialStreamWrite(chp, (uint8_t*)s, i);
+    if (i > 0) {
+    	chSequentialStreamWrite(chp, (uint8_t*)s, i);
+    }
     s += i;
 
     while (width) {
diff --git a/firmware/config/stm32f4ems/efifeatures.h b/firmware/config/stm32f4ems/efifeatures.h
index c1c65d28fe..b64e37734d 100644
--- a/firmware/config/stm32f4ems/efifeatures.h
+++ b/firmware/config/stm32f4ems/efifeatures.h
@@ -18,6 +18,15 @@
 
 #define EFI_USE_CCM TRUE
 
+/**
+ * if you have a 60-2 trigger, or if you just want better performance, you
+ * probably want EFI_ENABLE_ASSERTS to be FALSE. Also you would probably want to FALSE
+ * CH_DBG_ENABLE_CHECKS
+ * CH_DBG_ENABLE_ASSERTS
+ * CH_DBG_ENABLE_TRACE
+ * in chconf.h
+ *
+ */
 #define EFI_ENABLE_ASSERTS TRUE
 
 #ifndef EFI_ENABLE_ASSERTS
diff --git a/firmware/controllers/alternatorController.cpp b/firmware/controllers/alternatorController.cpp
index 19f624bbde..5f6a573745 100644
--- a/firmware/controllers/alternatorController.cpp
+++ b/firmware/controllers/alternatorController.cpp
@@ -25,7 +25,7 @@ static Logging *logger;
 
 static SimplePwm alternatorControl;
 static OutputPin alternatorPin;
-static Pid altPid(10, 0, 0, 10, 90);
+static Pid altPid(10, 0, 0, 1, 90);
 
 static THD_WORKING_AREA(alternatorControlThreadStack, UTILITY_THREAD_STACK_SIZE);
 
diff --git a/firmware/util/efilib.cpp b/firmware/util/efilib.cpp
index 89cbfeb561..b14d0536f9 100644
--- a/firmware/util/efilib.cpp
+++ b/firmware/util/efilib.cpp
@@ -55,6 +55,18 @@ uint32_t efiStrlen(const char *param) {
 	return (s - param);
 }
 
+char * efiTrim(char *param) {
+	while (param[0] == ' ') {
+		param++; // that would skip leading spaces
+	}
+	int len = efiStrlen(param);
+	while (len > 0 && param[len - 1] == ' ') {
+		param[len - 1] = 0;
+		len--;
+	}
+	return param;
+}
+
 bool startsWith(const char *line, const char *prefix) {
 	uint32_t len = efiStrlen(prefix);
 	if (efiStrlen(line) < len) {
@@ -177,7 +189,6 @@ int efiPow10(int param) {
 	return 10 * efiPow10(10 - 1);
 }
 
-
 /**
  * string to float
  * @return NAN in case of invalid string
@@ -257,7 +268,7 @@ void printHistogram(Logging *logging, histogram_s *histogram) {
 	appendMsgPrefix(logging);
 	appendPrintf(logging, "histogram %s *", histogram->name);
 	for (int i = 0; i < len; i++)
-		appendPrintf(logging, "%d ", report[i]);
+	appendPrintf(logging, "%d ", report[i]);
 	appendPrintf(logging, "*");
 	appendMsgPostfix(logging);
 	scheduleLogging(logging);
diff --git a/firmware/util/efilib.h b/firmware/util/efilib.h
index 4a84c7bdd4..2e06c2cb50 100644
--- a/firmware/util/efilib.h
+++ b/firmware/util/efilib.h
@@ -35,6 +35,7 @@ extern "C"
 {
 #endif /* __cplusplus */
 
+char * efiTrim(char *param);
 uint32_t efiStrlen(const char *param);
 int efiPow10(int param);
 bool startsWith(const char *line, const char *prefix);
@@ -47,7 +48,6 @@ int atoi(const char *string);
  */
 #define cisnan(f) (*(((int*) (&f))) == 0x7FC00000)
 
-
 int absI(int32_t value);
 float absF(float value);
 float efiRound(float value, float precision);