diff --git a/applications/app_rccar.c b/applications/app_rccar.c
index 572ad433..fe2d91e6 100644
--- a/applications/app_rccar.c
+++ b/applications/app_rccar.c
@@ -78,7 +78,7 @@ static msg_t rccar_thread(void *arg) {
 		chEvtWaitAny((eventmask_t) 1);
 
 #define HYST			0.15
-#define USE_PID			0
+#define USE_PID			1
 #define PID_MAX_RPM		15000
 
 		if (servodec_get_time_since_update() < 500) {
diff --git a/mcconf/mcconf_rccar1.h b/mcconf/mcconf_rccar1.h
index 347a7639..ecca76d2 100644
--- a/mcconf/mcconf_rccar1.h
+++ b/mcconf/mcconf_rccar1.h
@@ -34,7 +34,7 @@
 #define MCPWM_IN_CURRENT_MIN			-25.0	// Input current limit in Amperes (Lower)
 #define MCPWM_CURRENT_STARTUP_BOOST		0.08	// The lowest duty cycle to use in current control mode @ 20V.
 #define MCPWM_CURRENT_CONTROL_NO_REV	0		// Do not reverse the direction in current control mode, brake only
-#define MCPWM_RPM_MAX					10000.0	// The motor speed limit (Upper)
+#define MCPWM_RPM_MAX					100000.0	// The motor speed limit (Upper)
 #define MCPWM_RPM_MIN					-100000.0	// The motor speed limit (Lower)
 
 // Sensorless settings