diff --git a/CHANGELOG b/CHANGELOG
index c780fce5..0ac9ee0c 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -1,3 +1,9 @@
+=== FW 3.53 ===
+* Limit foc_current_filter_const range to prevent damage due to bad configuration.
+* Set default NRF speed to 1 Mbit/s.
+* Use lower switching frequency when detecting resistance to reduce deat-time distortion.
+* Don't enable temperature compensation in auto detection by default.
+
 === FW 3.52 ===
 * Added support for second revision of HW75/300 with separate UART for NRF51.
 * Added COMM_TERMINAL_CMD_SYNC, which does not drop commands when busy.
diff --git a/Makefile b/Makefile
index 57806265..67ff7de7 100644
--- a/Makefile
+++ b/Makefile
@@ -109,6 +109,7 @@ include applications/applications.mk
 include nrf/nrf.mk
 include libcanard/canard.mk
 include imu/imu.mk
+#include blackmagic/blackmagic.mk
 
 # Define linker script file here
 LDSCRIPT= ld_eeprom_emu.ld
@@ -157,7 +158,8 @@ CSRC = $(STARTUPSRC) \
        $(APPSRC) \
        $(NRFSRC) \
        $(CANARDSRC) \
-       $(IMUSRC)
+       $(IMUSRC) \
+#       $(BLACKMAGICSRC)
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -196,7 +198,8 @@ INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
          $(APPINC) \
          $(NRFINC) \
          $(CANARDINC) \
-         $(IMUINC)
+         $(IMUINC) \
+#         $(BLACKMAGICINC)
 
 #
 # Project, sources and paths
diff --git a/appconf/appconf_default.h b/appconf/appconf_default.h
index 4ac7f29d..1a4676d2 100644
--- a/appconf/appconf_default.h
+++ b/appconf/appconf_default.h
@@ -218,7 +218,7 @@
 
 // NRF app
 #ifndef APPCONF_NRF_SPEED
-#define APPCONF_NRF_SPEED					NRF_SPEED_2M
+#define APPCONF_NRF_SPEED					NRF_SPEED_1M
 #endif
 #ifndef APPCONF_NRF_POWER
 #define APPCONF_NRF_POWER					NRF_POWER_0DBM
diff --git a/build_all/410_o_411_o_412/VESC_0005ohm.bin b/build_all/410_o_411_o_412/VESC_0005ohm.bin
index c3e78f68..b82872c2 100755
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diff --git a/build_all/410_o_411_o_412/VESC_default.bin b/build_all/410_o_411_o_412/VESC_default.bin
index 3387916a..07698e32 100755
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diff --git a/build_all/410_o_411_o_412/VESC_default_no_hw_limits.bin b/build_all/410_o_411_o_412/VESC_default_no_hw_limits.bin
index eb230d3d..2dda4cad 100755
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diff --git a/build_all/410_o_411_o_412/VESC_servoout.bin b/build_all/410_o_411_o_412/VESC_servoout.bin
index fe060278..b9e2672d 100755
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diff --git a/build_all/410_o_411_o_412/VESC_ws2811.bin b/build_all/410_o_411_o_412/VESC_ws2811.bin
index 9ba0fae1..eb7e6041 100755
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diff --git a/build_all/46_o_47/VESC_0005ohm.bin b/build_all/46_o_47/VESC_0005ohm.bin
index 4543768e..7b875913 100755
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diff --git a/build_all/46_o_47/VESC_default.bin b/build_all/46_o_47/VESC_default.bin
index 24b1cc20..95939ec5 100755
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diff --git a/build_all/46_o_47/VESC_servoout.bin b/build_all/46_o_47/VESC_servoout.bin
index ac0925f1..879f4e40 100755
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diff --git a/build_all/46_o_47/VESC_ws2811_33k.bin b/build_all/46_o_47/VESC_ws2811_33k.bin
index f3e93892..e4d2af88 100755
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diff --git a/build_all/48/VESC_0005ohm.bin b/build_all/48/VESC_0005ohm.bin
index ca33aa10..02cf5c60 100755
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diff --git a/build_all/48/VESC_default.bin b/build_all/48/VESC_default.bin
index 3cfb84b8..9f2b5ce9 100755
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index 8474ec35..e4e047a0 100755
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diff --git a/build_all/60/VESC_default.bin b/build_all/60/VESC_default.bin
index aa50c19c..3b9dfa88 100755
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index 36f3cfed..a7f44fff 100755
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index a30f2ee0..c33a2cb0 100755
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diff --git a/build_all/75_300/VESC_default.bin b/build_all/75_300/VESC_default.bin
index 2bc37b4c..29eb8a60 100755
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index 823c6af2..352ffed1 100755
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index 51a1e613..653608da 100755
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index 08733223..756c16dc 100755
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diff --git a/build_all/75_300_R2/VESC_default.bin b/build_all/75_300_R2/VESC_default.bin
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diff --git a/build_all/75_300_R2/VESC_ws2811.bin b/build_all/75_300_R2/VESC_ws2811.bin
index 47451c3f..6c7048b2 100755
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diff --git a/build_all/DAS_RS/VESC_default.bin b/build_all/DAS_RS/VESC_default.bin
index 47523a47..28ed3b06 100755
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diff --git a/build_all/PALTA/VESC_default.bin b/build_all/PALTA/VESC_default.bin
index 5f42260b..6ffaa592 100755
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diff --git a/commands.c b/commands.c
index f956789e..8db62780 100644
--- a/commands.c
+++ b/commands.c
@@ -1078,6 +1078,9 @@ void commands_apply_mcconf_hw_limits(mc_configuration *mcconf) {
 	utils_truncate_number(&mcconf->l_temp_fet_start, HW_LIM_TEMP_FET);
 	utils_truncate_number(&mcconf->l_temp_fet_end, HW_LIM_TEMP_FET);
 #endif
+#ifdef HW_FOC_CURRENT_FILTER_LIM
+	utils_truncate_number(&mcconf->foc_current_filter_const, HW_FOC_CURRENT_FILTER_LIM);
+#endif
 #endif
 }
 
diff --git a/conf_general.c b/conf_general.c
index 57e0fbee..af021431 100644
--- a/conf_general.c
+++ b/conf_general.c
@@ -912,6 +912,7 @@ int conf_general_detect_apply_all_foc(float max_power_loss,
 
 	mcconf.motor_type = MOTOR_TYPE_FOC;
 	mcconf.foc_sensor_mode = FOC_SENSOR_MODE_SENSORLESS;
+	mcconf.foc_f_sw = 10000.0; // Lower f_sw => less dead-time distortion
 	mcconf.foc_current_kp = 0.0005;
 	mcconf.foc_current_ki = 1.0;
 	mcconf.l_current_max = MCCONF_L_CURRENT_MAX;
@@ -975,6 +976,12 @@ int conf_general_detect_apply_all_foc(float max_power_loss,
 	float i_max = sqrtf(max_power_loss / r);
 	utils_truncate_number(&i_max, HW_LIM_CURRENT);
 
+	// Increase switching frequency for flux linkage measurement
+	// as dead-time distortion has less effect at higher modulation.
+	// Having a smooth rotation is more important.
+	mcconf.foc_f_sw = 20000.0;
+	mc_interface_set_configuration(&mcconf);
+
 	float lambda = 0.0;
 	int res = conf_general_measure_flux_linkage_openloop(i_max / 2.5, 0.3, 1800, r, &lambda);
 
@@ -1005,12 +1012,14 @@ int conf_general_detect_apply_all_foc(float max_power_loss,
 		mcconf_old.foc_observer_gain = gain * 1e6;
 
 		// Temperature compensation
-		if (mc_interface_temp_motor_filtered() > 0.0) {
-			mcconf_old.foc_temp_comp = true;
-			mcconf_old.foc_temp_comp_base_temp = mc_interface_temp_motor_filtered();
-		} else {
-			mcconf_old.foc_temp_comp = false;
-		}
+		// Skip temperature compensation for now, as it seems to make
+		// things worse on some setups.
+//		if (mc_interface_temp_motor_filtered() > 0.0) {
+//			mcconf_old.foc_temp_comp = true;
+//			mcconf_old.foc_temp_comp_base_temp = mc_interface_temp_motor_filtered();
+//		} else {
+//			mcconf_old.foc_temp_comp = false;
+//		}
 	} else {
 		result = -10;
 	}
diff --git a/conf_general.h b/conf_general.h
index 8f551d5e..80950266 100644
--- a/conf_general.h
+++ b/conf_general.h
@@ -22,7 +22,7 @@
 
 // Firmware version
 #define FW_VERSION_MAJOR		3
-#define FW_VERSION_MINOR		52
+#define FW_VERSION_MINOR		53
 
 #include "datatypes.h"
 
@@ -138,6 +138,7 @@
  */
 //#define APP_CUSTOM_TO_USE			"app_rotary_led.c"
 //#define APPCONF_APP_TO_USE			APP_CUSTOM
+//#define MCCONF_FOC_F_SW				5000
 
 /*
  * Enable CAN-bus
diff --git a/hwconf/hw.h b/hwconf/hw.h
index 1431cea1..9be9d9ab 100644
--- a/hwconf/hw.h
+++ b/hwconf/hw.h
@@ -175,6 +175,10 @@
 #define HW_LIM_FOC_CTRL_LOOP_FREQ	3000.0, 30000.0
 #endif
 
+#ifndef HW_FOC_CURRENT_FILTER_LIM
+#define HW_FOC_CURRENT_FILTER_LIM	0.05, 1.0
+#endif
+
 // Functions
 void hw_init_gpio(void);
 void hw_setup_adc_channels(void);
diff --git a/main.c b/main.c
index 7e201b75..6d37b3bf 100644
--- a/main.c
+++ b/main.c
@@ -1,5 +1,5 @@
 /*
-	Copyright 2016 Benjamin Vedder	benjamin@vedder.se
+	Copyright 2016 - 2019 Benjamin Vedder	benjamin@vedder.se
 
 	This file is part of the VESC firmware.
 
@@ -51,7 +51,8 @@
 #include "imu.h"
 
 /*
- * Timers used:
+ * HW resources used:
+ *
  * TIM1: mcpwm
  * TIM5: timer
  * TIM8: mcpwm
@@ -68,8 +69,6 @@
  */
 
 // Private variables
-
-
 static THD_WORKING_AREA(periodic_thread_wa, 1024);
 static THD_WORKING_AREA(timer_thread_wa, 128);
 
@@ -106,20 +105,20 @@ static THD_FUNCTION(periodic_thread, arg) {
 		disp_pos_mode display_mode = commands_get_disp_pos_mode();
 
 		switch (display_mode) {
-			case DISP_POS_MODE_ENCODER:
-				commands_send_rotor_pos(encoder_read_deg());
-				break;
+		case DISP_POS_MODE_ENCODER:
+			commands_send_rotor_pos(encoder_read_deg());
+			break;
 
-			case DISP_POS_MODE_PID_POS:
-				commands_send_rotor_pos(mc_interface_get_pid_pos_now());
-				break;
+		case DISP_POS_MODE_PID_POS:
+			commands_send_rotor_pos(mc_interface_get_pid_pos_now());
+			break;
 
-			case DISP_POS_MODE_PID_POS_ERROR:
-				commands_send_rotor_pos(utils_angle_difference(mc_interface_get_pid_pos_set(), mc_interface_get_pid_pos_now()));
-				break;
+		case DISP_POS_MODE_PID_POS_ERROR:
+			commands_send_rotor_pos(utils_angle_difference(mc_interface_get_pid_pos_set(), mc_interface_get_pid_pos_now()));
+			break;
 
-			default:
-				break;
+		default:
+			break;
 		}
 
 		if (mc_interface_get_configuration()->motor_type == MOTOR_TYPE_FOC) {
@@ -134,30 +133,10 @@ static THD_FUNCTION(periodic_thread, arg) {
 
 			default:
 				break;
-		}
+			}
 		}
 
 		chThdSleepMilliseconds(10);
-
-//		chThdSleepMilliseconds(40);
-//		volatile const mc_configuration *conf = mc_interface_get_configuration();
-//		float vq = mcpwm_foc_get_vq();
-//		float iq = mc_interface_get_tot_current_directional();
-//		float linkage = conf->foc_motor_flux_linkage;
-//		float speed = ((2.0 * M_PI) / 60.0) * mc_interface_get_rpm();
-//
-//		if (iq < -6.0) {
-//			float res = vq / (linkage * speed * iq);
-//			res *= 2.0 / 3.0;
-//			static float res_filtered = 0.0;
-//			UTILS_LP_FAST(res_filtered, res, 0.02);
-//			commands_printf("Res: %.4f", (double)res_filtered);
-//		}
-
-//		chThdSleepMilliseconds(40);
-//		commands_printf("Max: %.2f Min: %.2f",
-//				(double)mc_interface_get_configuration()->lo_current_motor_max_now,
-//				(double)mc_interface_get_configuration()->lo_current_motor_min_now);
 	}
 }
 
@@ -173,12 +152,13 @@ static THD_FUNCTION(timer_thread, arg) {
 	}
 }
 
-/* When assertions enabled halve PWM frequency. The control loop ISR runs 40% slower */
+// When assertions enabled halve PWM frequency. The control loop ISR runs 40% slower
 void assert_failed(uint8_t* file, uint32_t line) {
 	commands_printf("Wrong parameters value: file %s on line %d\r\n", file, line);
 	mc_interface_release_motor();
-	while(1)
+	while(1) {
 		chThdSleepMilliseconds(1);
+	}
 }
 
 int main(void) {
@@ -317,9 +297,5 @@ int main(void) {
 
 	for(;;) {
 		chThdSleepMilliseconds(10);
-
-		if (encoder_is_configured()) {
-			//		comm_can_set_pos(0, encoder_read_deg());
-		}
 	}
 }
diff --git a/nrf/nrf_driver.c b/nrf/nrf_driver.c
index 46beec41..468d68d0 100644
--- a/nrf/nrf_driver.c
+++ b/nrf/nrf_driver.c
@@ -155,7 +155,7 @@ void nrf_driver_start_pairing(int ms) {
 			conf.retries = 3;
 			conf.retry_delay = NRF_RETR_DELAY_1000US;
 			conf.send_crc_ack = true;
-			conf.speed = NRF_SPEED_250K;
+			conf.speed = NRF_SPEED_1M;
 
 			rfhelp_update_conf(&conf);
 		}
@@ -472,7 +472,7 @@ void nrf_driver_process_packet(unsigned char *buf, unsigned char len) {
 		appconf.app_nrf_conf.retries = 3;
 		appconf.app_nrf_conf.retry_delay = NRF_RETR_DELAY_1000US;
 		appconf.app_nrf_conf.send_crc_ack = true;
-		appconf.app_nrf_conf.speed = NRF_SPEED_250K;
+		appconf.app_nrf_conf.speed = NRF_SPEED_1M;
 
 		if (ext_nrf) {
 			unsigned char data[5];