diff --git a/firmware/controllers/algo/idle_controller.cpp b/firmware/controllers/algo/idle_controller.cpp
index f89bbed09f..f9b0c5333a 100644
--- a/firmware/controllers/algo/idle_controller.cpp
+++ b/firmware/controllers/algo/idle_controller.cpp
@@ -38,7 +38,7 @@ void setIdleRpm(IdleValveState *idle, int targetRpm) {
 /**
  * @brief	sets new idle valve duty cycle: checks the bounds and reports new value
  */
-static int setNewValue(IdleValveState *idle, int currentRpm, int now, const char * msg, int newValue) {
+static int setNewValue(IdleValveState *idle, int currentRpm, efitimems_t now, const char * msg, int newValue) {
 	newValue = maxI(newValue, MIN_IDLE);
 	newValue = minI(newValue, MAX_IDLE);
 
@@ -62,9 +62,9 @@ static int changeValue(IdleValveState *idle, int currentRpm, int now, const char
 }
 
 /**
- * now - current time in seconds
+ * now - current time in milliseconds
  */
-int getIdle(IdleValveState *idle, int currentRpm, int now DECLARE_ENGINE_PARAMETER_S) {
+int getIdle(IdleValveState *idle, int currentRpm, efitimems_t now DECLARE_ENGINE_PARAMETER_S) {
 	if (currentRpm == 0 || isCranking()) {
 		return setNewValue(idle, currentRpm, now, "cranking value: ", DEFAULT_IDLE_DUTY);
 	}
diff --git a/firmware/controllers/algo/idle_controller.h b/firmware/controllers/algo/idle_controller.h
index 0b4e0e4b14..d64ec1334c 100644
--- a/firmware/controllers/algo/idle_controller.h
+++ b/firmware/controllers/algo/idle_controller.h
@@ -13,7 +13,7 @@
 // 600‰ duty cycle by default
 #define DEFAULT_IDLE_DUTY 600
 
-#define IDLE_PERIOD 1
+#define IDLE_PERIOD 1000
 
 // Per mil (1/1000) values
 #define MIN_IDLE 100
@@ -28,11 +28,11 @@ public:
 	int targetRpmRangeLeft, targetRpmRangeRight;
 
 	int value;
-	int timeOfLastIdleChange;
+	efitimems_t timeOfLastIdleChange;
 };
 
 void idleInit(IdleValveState *idle DECLARE_ENGINE_PARAMETER_S);
-int getIdle(IdleValveState *idle, int currentRpm, int time DECLARE_ENGINE_PARAMETER_S);
+int getIdle(IdleValveState *idle, int currentRpm, efitimems_t now DECLARE_ENGINE_PARAMETER_S);
 void setIdleRpm(IdleValveState *idle, int targetRpm);
 
 void idleDebug(const char *msg, int value);
diff --git a/firmware/controllers/idle_thread.cpp b/firmware/controllers/idle_thread.cpp
index aa31c56286..4e20c5907f 100644
--- a/firmware/controllers/idle_thread.cpp
+++ b/firmware/controllers/idle_thread.cpp
@@ -67,7 +67,7 @@ static void showIdleInfo(void) {
 			hwPortname(boardConfiguration->idleValvePin));
 }
 
-static void setIdleControlEnabled(int value, Engine *engine) {
+static void setIdleControlEnabled(int value) {
 	engineConfiguration->idleMode = value ? IM_AUTO : IM_MANUAL;
 	showIdleInfo();
 }
@@ -102,9 +102,9 @@ static msg_t ivThread(int param) {
 		if (engineConfiguration->idleMode != IM_AUTO)
 			continue;
 
-		int nowSec = getTimeNowSeconds();
+		efitimems_t now = currentTimeMillis();
 
-		int newValue = getIdle(&idle, getRpm(), nowSec PASS_ENGINE_PARAMETER);
+		int newValue = getIdle(&idle, getRpm(), now PASS_ENGINE_PARAMETER);
 
 		if (currentIdleValve != newValue) {
 			currentIdleValve = newValue;
@@ -152,7 +152,7 @@ void startIdleThread(Engine *engine) {
 	addConsoleAction("idleinfo", showIdleInfo);
 	addConsoleActionI("set_idle_rpm", setIdleRpmAction);
 	addConsoleActionI("set_idle_pwm", setIdleValvePwm);
-	addConsoleActionIP("set_idle_enabled", (VoidIntVoidPtr) setIdleControlEnabled, engine);
+	addConsoleActionI("set_idle_enabled", (VoidInt) setIdleControlEnabled);
 }
 
 #endif
diff --git a/firmware/controllers/math/pid.cpp b/firmware/controllers/math/pid.cpp
index 033c4719d6..783377ed63 100644
--- a/firmware/controllers/math/pid.cpp
+++ b/firmware/controllers/math/pid.cpp
@@ -41,3 +41,15 @@ float Pid::getValue(float target, float input, float dTime) {
 	return result;
 }
 
+void Pid::updateFactors(float pFactor, float iFactor, float dFactor) {
+  this->pFactor = pFactor;
+  this->iFactor = iFactor;
+  this->dFactor = dFactor;
+  reset();
+}
+
+void Pid::reset(void) {
+  integration = 0;
+  prevError = 0;
+}
+
diff --git a/firmware/controllers/math/pid.h b/firmware/controllers/math/pid.h
index 5232019168..7dcbb419a8 100644
--- a/firmware/controllers/math/pid.h
+++ b/firmware/controllers/math/pid.h
@@ -13,7 +13,8 @@ class Pid {
 public:
 	Pid(float pFactor, float iFactor, float dFactor, float minResult, float maxResult);
 	float getValue(float target, float input, float dTime);
-
+	void updateFactors(float pFactor, float iFactor, float dFactor);
+	void reset(void);
 private:
 	float pFactor;
 	float iFactor;