diff --git a/firmware/controllers/algo/auto_generated_codes.cpp b/firmware/controllers/algo/auto_generated_codes.cpp
index 260c7f5f4c..903e55c8ba 100644
--- a/firmware/controllers/algo/auto_generated_codes.cpp
+++ b/firmware/controllers/algo/auto_generated_codes.cpp
@@ -1,6 +1,6 @@
 #include "global.h"
 #include "obd_error_codes.h"
-// was generated automatically by rusEFI tool  from obd_error_codes.h // by enum2string.jar tool on Sun Oct 03 01:41:19 EDT 2021
+// was generated automatically by rusEFI tool  from obd_error_codes.h // by enum2string.jar tool on Fri Oct 29 15:39:44 EDT 2021
 // see also gen_config_and_enums.bat
 
 
@@ -615,8 +615,6 @@ case CUSTOM_OBD_95:
   return "CUSTOM_OBD_95";
 case CUSTOM_OBD_96:
   return "CUSTOM_OBD_96";
-case CUSTOM_OBD_97:
-  return "CUSTOM_OBD_97";
 case CUSTOM_OBD_ANALOG_INPUT_NOT_CONFIGURED:
   return "CUSTOM_OBD_ANALOG_INPUT_NOT_CONFIGURED";
 case CUSTOM_OBD_ANGLE_CONSTRAINT_VIOLATION:
@@ -673,6 +671,8 @@ case CUSTOM_OUT_OF_ORDER_COIL:
   return "CUSTOM_OUT_OF_ORDER_COIL";
 case CUSTOM_PARAM_RANGE:
   return "CUSTOM_PARAM_RANGE";
+case CUSTOM_PID_DTERM:
+  return "CUSTOM_PID_DTERM";
 case CUSTOM_PWM_CYCLE_START:
   return "CUSTOM_PWM_CYCLE_START";
 case CUSTOM_PWM_DUTY_TOO_HIGH:
diff --git a/firmware/controllers/algo/obd_error_codes.h b/firmware/controllers/algo/obd_error_codes.h
index 9c3d2a4505..e26786dd7f 100644
--- a/firmware/controllers/algo/obd_error_codes.h
+++ b/firmware/controllers/algo/obd_error_codes.h
@@ -1781,7 +1781,7 @@ typedef enum {
 	CUSTOM_OBD_94 = 6094,
 	CUSTOM_OBD_95 = 6095,
 	CUSTOM_OBD_96 = 6096,
-	CUSTOM_OBD_97 = 6097,
+	CUSTOM_PID_DTERM = 6097,
 	CUSTOM_DWELL = 6098,
 	CUSTOM_TS_OVERFLOW = 6099,
 
diff --git a/firmware/util/math/pid.cpp b/firmware/util/math/pid.cpp
index c464cd6a86..0a1b52c345 100644
--- a/firmware/util/math/pid.cpp
+++ b/firmware/util/math/pid.cpp
@@ -61,6 +61,11 @@ float Pid::getUnclampedOutput(float target, float input, float dTime) {
 
 	previousError = error;
 
+	if (dTime <=0) {
+		warning(CUSTOM_PID_DTERM, "PID: unexpected dTime");
+		return pTerm + getOffset();
+	}
+
 	return pTerm + iTerm + dTerm + getOffset();
 }