diff --git a/firmware/config/engines/mazda_miata_vvt.cpp b/firmware/config/engines/mazda_miata_vvt.cpp
index 18de48cf14..f4772d5f35 100644
--- a/firmware/config/engines/mazda_miata_vvt.cpp
+++ b/firmware/config/engines/mazda_miata_vvt.cpp
@@ -385,7 +385,17 @@ void setMazdaMiata2003EngineConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 	setFsio(1, GPIOE_6, COMBINED_WARNING_LIGHT PASS_ENGINE_PARAMETER_SUFFIX);
 
+	// enable auto_idle
+	// enable verbose_idle
+	engineConfiguration->isVerboseIAC = false;
+	// set idle_p 0.01
+	// set idle_i 0
+	// set idle_d 0
+	// set debug_mode 3
+	// set idle_rpm 1700
 
+	//set idle_offset 30
+	engineConfiguration->idleRpmPid.offset = 30;
 }
 
 void setMazdaMiata2003EngineConfigurationNewBoard(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
diff --git a/firmware/controllers/idle_thread.cpp b/firmware/controllers/idle_thread.cpp
index 6b2df2dda4..5569d8d57a 100644
--- a/firmware/controllers/idle_thread.cpp
+++ b/firmware/controllers/idle_thread.cpp
@@ -50,6 +50,8 @@ static SimplePwm idleSolenoid;
 
 static StepperMotor iacMotor;
 
+static int adjustedTargetRpm;
+
 /**
  * that's the position with CLT and IAT corrections
  */
@@ -59,6 +61,17 @@ void idleDebug(const char *msg, percent_t value) {
 	scheduleMsg(logger, "idle debug: %s%f", msg, value);
 }
 
+static void showPidSettings(const char*msg, pid_s *pid) {
+	scheduleMsg(logger, "%s o=%f P=%.5f I=%.5f D=%.5f dT=%d",
+			msg,
+			pid->offset,
+			pid->pFactor,
+			pid->iFactor,
+			pid->dFactor,
+			engineConfiguration->idleDT);
+
+}
+
 static void showIdleInfo(void) {
 	const char * idleModeStr = getIdle_mode_e(engineConfiguration->idleMode);
 	scheduleMsg(logger, "idleMode=%s position=%f isStepper=%s", idleModeStr,
@@ -78,10 +91,7 @@ static void showIdleInfo(void) {
 
 
 	if (engineConfiguration->idleMode == IM_AUTO) {
-		scheduleMsg(logger, "idle P=%f I=%f D=%f dT=%d", engineConfiguration->idleRpmPid.pFactor,
-				engineConfiguration->idleRpmPid.iFactor,
-				engineConfiguration->idleRpmPid.dFactor,
-				engineConfiguration->idleDT);
+		showPidSettings("idle", &engineConfiguration->idleRpmPid);
 	}
 }
 
@@ -160,9 +170,9 @@ percent_t getIdlePosition(void) {
 
 static float autoIdle(float cltCorrection) {
 
-	int targetRpm = engineConfiguration->targetIdleRpm * cltCorrection;
+	adjustedTargetRpm = engineConfiguration->targetIdleRpm * cltCorrection;
 
-	percent_t newValue = idlePid.getValue(targetRpm, getRpmE(engine));
+	percent_t newValue = idlePid.getValue(adjustedTargetRpm, getRpmE(engine));
 
 	return newValue;
 }
@@ -225,8 +235,13 @@ static msg_t ivThread(int param) {
 #endif
 		}
 
-		if (engineConfiguration->isVerboseIAC) {
-			scheduleMsg(logger, "rpm=%d position=%f", getRpmE(engine), iacPosition);
+		if (engineConfiguration->isVerboseIAC && engineConfiguration->idleMode == IM_AUTO) {
+			showPidSettings("idle", &engineConfiguration->idleRpmPid);
+			scheduleMsg(logger, "rpm=%d/%d position=%f iTerm=%.5f dTerm=%.5f",
+					getRpmE(engine),
+					adjustedTargetRpm,
+					iacPosition,
+					idlePid.iTerm, idlePid.dTerm);
 		}
 
 		actualIdlePosition = iacPosition;
@@ -241,10 +256,16 @@ static msg_t ivThread(int param) {
 void setTargetIdleRpm(int value) {
 	engineConfiguration->targetIdleRpm = value;
 	scheduleMsg(logger, "target idle RPM %d", value);
+	showIdleInfo();
 }
 
 static void apply(void) {
-//	idleMath.updateFactors(engineConfiguration->idlePFactor, engineConfiguration->idleIFactor, engineConfiguration->idleDFactor, engineConfiguration->idleDT);
+	idlePid.updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
+}
+
+void setIdleOffset(float value)  {
+	engineConfiguration->idleRpmPid.offset = value;
+	showIdleInfo();
 }
 
 void setIdlePFactor(float value) {
diff --git a/firmware/controllers/idle_thread.h b/firmware/controllers/idle_thread.h
index e34a12fe30..e3d6063927 100644
--- a/firmware/controllers/idle_thread.h
+++ b/firmware/controllers/idle_thread.h
@@ -17,6 +17,7 @@ void startIdleThread(Logging*sharedLogger);
 void setDefaultIdleParameters(void);
 void startIdleBench(void);
 void setIdleDT(int value);
+void setIdleOffset(float value);
 void setIdlePFactor(float value);
 void setIdleIFactor(float value);
 void setIdleDFactor(float value);
diff --git a/firmware/controllers/settings.cpp b/firmware/controllers/settings.cpp
index 6f4da0db84..24cb5deb19 100644
--- a/firmware/controllers/settings.cpp
+++ b/firmware/controllers/settings.cpp
@@ -862,7 +862,7 @@ static void enableOrDisable(const char *param, bool isEnabled) {
 		boardConfiguration->enabledStep1Limiter = isEnabled;
 #if EFI_PROD_CODE || defined(__DOXYGEN__)
 	} else if (strEqualCaseInsensitive(param, "auto_idle")) {
-		setIdleMode(isEnabled ? IM_AUTO : IM_MANUAL);
+		setIdleMode(isEnabled ? IM_MANUAL : IM_AUTO);
 #endif /* EFI_PROD_CODE */
 	} else if (strEqualCaseInsensitive(param, "serial")) {
 		boardConfiguration->useSerialPort = isEnabled;
@@ -1109,6 +1109,7 @@ command_f_s commandsF[] = {{"mock_iat_voltage", setIatVoltage},
 		{"engine_decel_multiplier", setDecelMult},
 #if EFI_PROD_CODE || defined(__DOXYGEN__)
 		{"mock_vehicle_speed", setMockVehicleSpeed},
+		{"idle_offset", setIdleOffset},
 		{"idle_p", setIdlePFactor},
 		{"idle_i", setIdleIFactor},
 		{"idle_d", setIdleDFactor},
diff --git a/firmware/integration/rusefi_config.txt b/firmware/integration/rusefi_config.txt
index df9f90ad81..07031a5212 100644
--- a/firmware/integration/rusefi_config.txt
+++ b/firmware/integration/rusefi_config.txt
@@ -631,7 +631,7 @@ custom idle_mode_e 4 bits,    U32,   @OFFSET@, [0:0], "false", "true"
 	uint32_t engineChartSize;;"count",      1,      0,       0, 300,      0
 
 
-	int targetIdleRpm;;"RPM",      1,      0,       0, 7000,      0
+	int targetIdleRpm;set idle_rpm X;"RPM",      1,      0,       0, 7000,      0
 
 	adc_channel_e acSwitchAdc;A/C button input handled as analog input