diff --git a/applications/app_sten.c b/applications/app_sten.c
index 13b8bdbf..5219d9e9 100644
--- a/applications/app_sten.c
+++ b/applications/app_sten.c
@@ -50,6 +50,7 @@ static volatile systime_t last_uart_update_time;
 
 // Private functions
 static void set_output(float output);
+static uint16_t middle_of_3(uint16_t a, uint16_t b, uint16_t c);
 
 /*
  * This callback is invoked when a transmission buffer has been completely
@@ -82,7 +83,15 @@ static void rxerr(UARTDriver *uartp, uartflags_t e) {
 static void rxchar(UARTDriver *uartp, uint16_t c) {
 	(void)uartp;
 
-	out_received = ((float)c / 128) - 1.0;
+	static uint16_t c1 = 128;
+	static uint16_t c2 = 128;
+
+	uint16_t med = middle_of_3(c, c1, c2);
+
+	c2 = c1;
+	c1 = c;
+
+	out_received = ((float)med / 128) - 1.0;
 	last_uart_update_time = chTimeNow();
 }
 
@@ -183,4 +192,17 @@ static void set_output(float output) {
 	}
 }
 
+static uint16_t middle_of_3(uint16_t a, uint16_t b, uint16_t c) {
+	uint16_t middle;
+
+	if ((a <= b) && (a <= c)) {
+		middle = (b <= c) ? b : c;
+	} else if ((b <= a) && (b <= c)) {
+		middle = (a <= c) ? a : c;
+	} else {
+		middle = (a <= b) ? a : b;
+	}
+	return middle;
+}
+
 #endif
diff --git a/comm.c b/comm.c
index 156b84a3..3c16781d 100644
--- a/comm.c
+++ b/comm.c
@@ -245,8 +245,6 @@ void comm_printf(char* format, ...) {
 	if(len>0) {
 		packet_send_packet((unsigned char*)print_buffer, (len<254)? len+1: 255, 0);
 	}
-
-	return;
 }
 
 void comm_send_samples(uint8_t *data, int len) {
diff --git a/mcconf/mcconf_sten.h b/mcconf/mcconf_sten.h
index aed304f2..858b6e78 100644
--- a/mcconf/mcconf_sten.h
+++ b/mcconf/mcconf_sten.h
@@ -30,7 +30,8 @@
  */
 #define MCPWM_CURRENT_MAX				35.0	// Current limit in Amperes (Upper)
 #define MCPWM_CURRENT_MIN				-30.0	// Current limit in Amperes (Lower)
-#define MCPWM_MAX_ABS_CURRENT			100.0	// The maximum absolute current above which a fault is generated
+#define MCPWM_MAX_ABS_CURRENT			80.0	// The maximum absolute current above which a fault is generated
+#define MCPWM_SLOW_ABS_OVERCURRENT		1		// Use the filtered (and hence slower) current for the overcurrent fault detection
 #define MCPWM_IN_CURRENT_MAX			25.0	// Input current limit in Amperes (Upper)
 #define MCPWM_IN_CURRENT_MIN			-20.0	// Input current limit in Amperes (Lower)
 #define MCPWM_RPM_MAX					50000.0	// The motor speed limit (Upper)
diff --git a/mcpwm.c b/mcpwm.c
index 77fca0d3..857937c2 100644
--- a/mcpwm.c
+++ b/mcpwm.c
@@ -1939,10 +1939,10 @@ static void commutate(void) {
 }
 
 static void set_next_timer_settings(mc_timer_struct *settings) {
-	memcpy((void*)&timer_struct, settings, sizeof(mc_timer_struct));
-
 	chSysLock();
 
+	memcpy((void*)&timer_struct, settings, sizeof(mc_timer_struct));
+
 	volatile uint32_t cnt = TIM1->CNT;
 	volatile uint32_t top = TIM1->ARR;