diff --git a/firmware/controllers/algo/engine_configuration.cpp b/firmware/controllers/algo/engine_configuration.cpp
index 0698a55ceb..243f9b53fd 100644
--- a/firmware/controllers/algo/engine_configuration.cpp
+++ b/firmware/controllers/algo/engine_configuration.cpp
@@ -162,6 +162,11 @@ void incrementGlobalConfigurationVersion(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 #if EFI_ALTERNATOR_CONTROL || defined(__DOXYGEN__)
 	onConfigurationChangeAlternatorCallback(&activeConfiguration);
 #endif /* EFI_ALTERNATOR_CONTROL */
+#if EFI_ELECTRONIC_THROTTLE_BODY || defined(__DOXYGEN__)
+	onConfigurationChangeElectronicThrottleCallback(&activeConfiguration);
+#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
+
+
 	rememberCurrentConfiguration();
 }
 
diff --git a/firmware/controllers/electronic_throttle.cpp b/firmware/controllers/electronic_throttle.cpp
index ec2e331deb..426c65862b 100644
--- a/firmware/controllers/electronic_throttle.cpp
+++ b/firmware/controllers/electronic_throttle.cpp
@@ -55,6 +55,7 @@
 #include "pin_repository.h"
 #include "pwm_generator.h"
 extern TunerStudioOutputChannels tsOutputChannels;
+static bool shouldResetPid = false;
 
 #define ETB_FREQ 400
 
@@ -72,20 +73,26 @@ static SimplePwm etbPwmDown CCM_OPTIONAL;
 static OutputPin outputDirectionOpen CCM_OPTIONAL;
 static OutputPin outputDirectionClose CCM_OPTIONAL;
 
-static pid_s etbS;
-static Pid pid(&etbS, 0, 100);
+EXTERN_ENGINE;
+
+static Pid pid(&engineConfiguration->etb, 0, 100);
 
 static float prevTps;
 
 static float currentEtbDuty;
 
-EXTERN_ENGINE;
-
 static bool wasEtbBraking = false;
 
 static msg_t etbThread(void *arg) {
         UNUSED(arg);
 	while (true) {
+		if (shouldResetPid) {
+			pid.reset();
+//			alternatorPidResetCounter++;
+			shouldResetPid = false;
+		}
+
+
 		percent_t pedal = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
 		percent_t tps = getTPS();
 
@@ -176,6 +183,11 @@ void stopETBPins(void) {
 	unmarkPin(activeConfiguration.bc.etbDirectionPin2);
 }
 
+void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration) {
+	shouldResetPid = !pid.isSame(&engineConfiguration->etb);
+
+}
+
 void startETBPins(void) {
 	// this line used for PWM
 	startSimplePwmExt(&etbPwmUp, "etb1",
diff --git a/firmware/controllers/electronic_throttle.h b/firmware/controllers/electronic_throttle.h
index c56f0a5344..3605929ca3 100644
--- a/firmware/controllers/electronic_throttle.h
+++ b/firmware/controllers/electronic_throttle.h
@@ -8,11 +8,13 @@
 #ifndef ELECTRONIC_THROTTLE_H_
 #define ELECTRONIC_THROTTLE_H_
 
+#include "engine.h"
 void initElectronicThrottle(void);
 void setDefaultEtbParameters(void);
 void setEtbPFactor(float value);
 void setEtbIFactor(float value);
 void stopETBPins(void);
 void startETBPins(void);
+void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration);
 
 #endif /* ELECTRONIC_THROTTLE_H_ */
diff --git a/firmware/rusefi.cpp b/firmware/rusefi.cpp
index 9b6e577cde..71f152fcaa 100644
--- a/firmware/rusefi.cpp
+++ b/firmware/rusefi.cpp
@@ -251,5 +251,5 @@ int getRusEfiVersion(void) {
 		return 123; // this is here to make the compiler happy about the unused array
 	if (UNUSED_CCM_SIZE[0] * 0 != 0)
 		return 3211; // this is here to make the compiler happy about the unused array
-	return 20170527;
+	return 20170528;
 }