diff --git a/firmware/controllers/actuators/alternator_controller.cpp b/firmware/controllers/actuators/alternator_controller.cpp
index f7255480cd..6309d1a087 100644
--- a/firmware/controllers/actuators/alternator_controller.cpp
+++ b/firmware/controllers/actuators/alternator_controller.cpp
@@ -49,7 +49,7 @@ public:
 private:
 	void PeriodicTask(efitime_t nowNt) override	{
 		UNUSED(nowNt);
-		setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->alternatorControl.periodMs));
+		setPeriod(GET_PERIOD_LIMITED(&engineConfiguration->alternatorControl));
 
 #if ! EFI_UNIT_TEST
 		if (shouldResetPid) {
diff --git a/firmware/controllers/actuators/aux_pid.cpp b/firmware/controllers/actuators/aux_pid.cpp
index 3b01eb91aa..653209896c 100644
--- a/firmware/controllers/actuators/aux_pid.cpp
+++ b/firmware/controllers/actuators/aux_pid.cpp
@@ -62,7 +62,7 @@ public:
 private:
 	void PeriodicTask(efitime_t nowNt) override	{
 		UNUSED(nowNt);
-		setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->auxPid[0].periodMs));
+		setPeriod(GET_PERIOD_LIMITED(&engineConfiguration->auxPid[0]));
 
 			if (engine->auxParametersVersion.isOld(engine->getGlobalConfigurationVersion())) {
 				pidReset();
diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index ae6c2bca91..e13299923e 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -167,7 +167,7 @@ private:
 
 	void PeriodicTask(efitime_t nowNt) override	{
 		UNUSED(nowNt);
-		setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->etb.periodMs));
+		setPeriod(GET_PERIOD_LIMITED(&engineConfiguration->etb));
 
 
 		// set debug_mode 17
diff --git a/firmware/controllers/actuators/idle_thread.cpp b/firmware/controllers/actuators/idle_thread.cpp
index 2e1273c82f..277f74659f 100644
--- a/firmware/controllers/actuators/idle_thread.cpp
+++ b/firmware/controllers/actuators/idle_thread.cpp
@@ -265,7 +265,7 @@ public:
 private:
 	void PeriodicTask(efitime_t nowNt) override	{
 		UNUSED(nowNt);
-		setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->idleRpmPid.periodMs));
+		setPeriod(GET_PERIOD_LIMITED(&engineConfiguration->idleRpmPid));
 
 	/*
 	 * Here we have idle logic thread - actual stepper movement is implemented in a separate
diff --git a/firmware/controllers/injector_central.cpp b/firmware/controllers/injector_central.cpp
index 263f560bd0..75c103040d 100644
--- a/firmware/controllers/injector_central.cpp
+++ b/firmware/controllers/injector_central.cpp
@@ -222,7 +222,7 @@ public:
 private:
 	void PeriodicTask(efitime_t nowNt) override	{
 		UNUSED(nowNt);
-		setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->auxPid[0].periodMs));
+		setPeriod(50 /* ms */);
 
 		// naive inter-thread communication - waiting for a flag
 		if (isBenchTestPending) {
diff --git a/firmware/util/math/pid.h b/firmware/util/math/pid.h
index 7ea73ef038..a1cf800d19 100644
--- a/firmware/util/math/pid.h
+++ b/firmware/util/math/pid.h
@@ -19,6 +19,13 @@
 #define PID_AVG_BUF_SIZE_SHIFT 5
 #define PID_AVG_BUF_SIZE (1<<PID_AVG_BUF_SIZE_SHIFT) // 32*sizeof(float)
 
+// minimal period 5m meaning maximum control frequency 200Hz
+#define PID_MINIMAL_PERIOD_MS 5
+
+#define GET_PERIOD_LIMITED(pid_s_ptr) maxI(PID_MINIMAL_PERIOD_MS, ((pid_s_ptr)->periodMs))
+
+#define MS2SEC(x) (x * 0.001)
+
 class Pid {
 
 public: