diff --git a/firmware/config/engines/custom_engine.cpp b/firmware/config/engines/custom_engine.cpp
index 0c8c0c6229..7e83b58f0a 100644
--- a/firmware/config/engines/custom_engine.cpp
+++ b/firmware/config/engines/custom_engine.cpp
@@ -350,7 +350,25 @@ void setTle8888TestConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	boardConfiguration->fuelPumpPin = TLE8888_PIN_20;
 
 	engineConfiguration->tpsAdcChannel = EFI_ADC_3; // PA3
-	engineConfiguration->throttlePedalPositionAdcChannel = EFI_ADC_4; // PA4
+	engineConfiguration->throttlePedalPositionAdcChannel = EFI_ADC_7; // PA7
+
+	engineConfiguration->etb.pFactor = 1.07;
+	engineConfiguration->etb.iFactor = 	0.18;
+	engineConfiguration->etb.dFactor = 0.24;
+	engineConfiguration->etb.offset = 80;
+#if EFI_PROD_CODE
+	engineConfiguration->etb.periodMs = (1000 / DEFAULT_ETB_LOOP_FREQUENCY);
+	engineConfiguration->etbFreq = DEFAULT_ETB_PWM_FREQUENCY;
+#endif
+	engineConfiguration->etb_iTermMin = -300;
+	engineConfiguration->etb_iTermMax = 300;
+
+	// VAG test ETB, no divider on red board - direct 3v TPS sensor
+	// set tps_min 332
+	engineConfiguration->tpsMin = 332;
+	// by the way this ETB has default position of ADC=74 which is about 4%
+	// set tps_max 540
+	engineConfiguration->tpsMax = 799;
 }
 
 #endif /* CONFIG_ENGINES_CUSTOM_ENGINE_CPP_ */
diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index d66e619b53..ae6c2bca91 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -232,7 +232,7 @@ private:
 		}
 */
 		currentEtbDuty = feedForward +
-				pid.getOutput(targetPosition, actualThrottlePosition);
+				pid.getOutput(targetPosition, actualThrottlePosition, engineConfiguration->etb.periodMs / 1000.0);
 
 		etb1.dcMotor.Set(PERCENT_TO_DUTY(currentEtbDuty));
 /*
@@ -349,8 +349,8 @@ void setDefaultEtbParameters(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	engineConfiguration->etb.pFactor = 1;
 	engineConfiguration->etb.iFactor = 0.05;
 	engineConfiguration->etb.dFactor = 0.0;
-	engineConfiguration->etb.periodMs = 100;
-	engineConfiguration->etbFreq = 300;
+	engineConfiguration->etb.periodMs = (1000 / DEFAULT_ETB_LOOP_FREQUENCY);
+	engineConfiguration->etbFreq = DEFAULT_ETB_PWM_FREQUENCY;
 	engineConfiguration->etb_iTermMin = -300;
 	engineConfiguration->etb_iTermMax = 300;
 
diff --git a/firmware/controllers/actuators/electronic_throttle.h b/firmware/controllers/actuators/electronic_throttle.h
index 8485c02e71..ba295f80a1 100644
--- a/firmware/controllers/actuators/electronic_throttle.h
+++ b/firmware/controllers/actuators/electronic_throttle.h
@@ -8,6 +8,10 @@
 #ifndef ELECTRONIC_THROTTLE_H_
 #define ELECTRONIC_THROTTLE_H_
 
+// https://en.wikipedia.org/wiki/Nyquist%E2%80%93Shannon_sampling_theorem
+#define DEFAULT_ETB_LOOP_FREQUENCY 200
+#define DEFAULT_ETB_PWM_FREQUENCY 300
+
 #include "engine.h"
 void initElectronicThrottle(void);
 void setDefaultEtbBiasCurve(DECLARE_ENGINE_PARAMETER_SIGNATURE);
diff --git a/firmware/util/math/pid.cpp b/firmware/util/math/pid.cpp
index 8514897686..14495ed7b1 100644
--- a/firmware/util/math/pid.cpp
+++ b/firmware/util/math/pid.cpp
@@ -56,6 +56,9 @@ float Pid::getUnclampedOutput(float target, float input, float dTime) {
 	return pTerm + iTerm + dTerm + pid->offset;
 }
 
+/**
+ * @param dTime seconds probably? :)
+ */
 float Pid::getOutput(float target, float input, float dTime) {
 	float output = getUnclampedOutput(target, input, dTime);