diff --git a/firmware/config/engines/mazda_miata_1_6.cpp b/firmware/config/engines/mazda_miata_1_6.cpp
index c193178703..f54d487692 100644
--- a/firmware/config/engines/mazda_miata_1_6.cpp
+++ b/firmware/config/engines/mazda_miata_1_6.cpp
@@ -421,7 +421,6 @@ void setMiataNA6_MAP_MRE(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	engineConfiguration->idleTimingPid.dFactor = 0.0;
 	engineConfiguration->idleTimingPid.minValue = -13;
 	engineConfiguration->idleTimingPid.maxValue = 13;
-	engineConfiguration->idleTimingPid.periodMs = 8;
 	engineConfiguration->idleTimingPidWorkZone = 150;
 	engineConfiguration->idlePidFalloffDeltaRpm = 50;
 	engineConfiguration->idleTimingPidDeadZone = 10;
diff --git a/firmware/controllers/actuators/idle_thread.cpp b/firmware/controllers/actuators/idle_thread.cpp
index 3371e698f5..413ba1e2f0 100644
--- a/firmware/controllers/actuators/idle_thread.cpp
+++ b/firmware/controllers/actuators/idle_thread.cpp
@@ -182,7 +182,7 @@ void setIdleMode(idle_mode_e value DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	showIdleInfo();
 }
 
-percent_t getIdlePosition(void) {
+percent_t getIdlePosition() {
 	return engine->engineState.idle.currentIdlePosition;
 }
 
@@ -329,7 +329,7 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
 	// If errorAmpCoef > 1.0, then PID thinks that RPM is lower than it is, and controls IAC more aggressively
 	getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->setErrorAmplification(errorAmpCoef);
 
-	percent_t newValue = getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getOutput(targetRpm, rpm);
+	percent_t newValue = getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getOutput(targetRpm, rpm, SLOW_CALLBACK_PERIOD_MS / 1000.0f);
 	engine->engineState.idle.idleState = PID_VALUE;
 
 	// the state of PID has been changed, so we might reset it now, but only when needed (see idlePidDeactivationTpsThreshold)
@@ -368,12 +368,8 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
 	return newValue;
 }
 
-	int IdleController::getPeriodMs() {
-		return GET_PERIOD_LIMITED(&engineConfiguration->idleRpmPid);
-	}
-
-	void IdleController::PeriodicTask() {
-		efiAssertVoid(OBD_PCM_Processor_Fault, engineConfiguration != NULL, "engineConfiguration pointer");
+	float IdleController::getIdlePosition() {
+		efiAssert(OBD_PCM_Processor_Fault, engineConfiguration != NULL, "engineConfiguration pointer", 0);
 	/*
 	 * Here we have idle logic thread - actual stepper movement is implemented in a separate
 	 * working thread,
@@ -508,11 +504,22 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
 		}
 
 		engine->engineState.idle.currentIdlePosition = iacPosition;
-		applyIACposition(engine->engineState.idle.currentIdlePosition PASS_ENGINE_PARAMETER_SUFFIX);
+
+		return iacPosition;
+}
+
+void IdleController::update() {
+	float position = getIdlePosition();
+	applyIACposition(position PASS_ENGINE_PARAMETER_SUFFIX);
 }
 
 IdleController idleControllerInstance;
 
+void updateIdleControl()
+{
+	idleControllerInstance.update();
+}
+
 static void applyPidSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
 	iacPidMultMap.init(CONFIG(iacPidMultTable), CONFIG(iacPidMultLoadBins), CONFIG(iacPidMultRpmBins));
@@ -522,7 +529,6 @@ void setDefaultIdleParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	engineConfiguration->idleRpmPid.pFactor = 0.1f;
 	engineConfiguration->idleRpmPid.iFactor = 0.05f;
 	engineConfiguration->idleRpmPid.dFactor = 0.0f;
-	engineConfiguration->idleRpmPid.periodMs = 10;
 
 	engineConfiguration->idlerpmpid_iTermMin = -200;
 	engineConfiguration->idlerpmpid_iTermMax =  200;
@@ -564,12 +570,6 @@ void setIdleDFactor(float value) {
 	showIdleInfo();
 }
 
-void setIdleDT(int value) {
-	engineConfiguration->idleRpmPid.periodMs = value;
-	applyPidSettings();
-	showIdleInfo();
-}
-
 /**
  * Idle test would activate the solenoid for three seconds
  */
@@ -637,8 +637,6 @@ void startIdleThread(Logging*sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 
 	//scheduleMsg(logger, "initial idle %d", idlePositionController.value);
 
-	idleControllerInstance.Start();
-
 #if ! EFI_UNIT_TEST
 	// this is neutral/no gear switch input. on Miata it's wired both to clutch pedal and neutral in gearbox
 	// this switch is not used yet
diff --git a/firmware/controllers/actuators/idle_thread.h b/firmware/controllers/actuators/idle_thread.h
index 8584a60f1a..cfc53b0069 100644
--- a/firmware/controllers/actuators/idle_thread.h
+++ b/firmware/controllers/actuators/idle_thread.h
@@ -15,15 +15,16 @@
 class Logging;
 class Pid;
 
-class IdleController : public PeriodicTimerController {
+class IdleController {
 public:
 	DECLARE_ENGINE_PTR;
 
-	int getPeriodMs() override;
-	void PeriodicTask() override;
+	float getIdlePosition();
+	void update();
 };
 
-percent_t getIdlePosition(void);
+void updateIdleControl();
+percent_t getIdlePosition();
 
 void applyIACposition(percent_t position DECLARE_ENGINE_PARAMETER_SUFFIX);
 void setManualIdleValvePosition(int positionPercent);
@@ -31,14 +32,12 @@ void setManualIdleValvePosition(int positionPercent);
 void startIdleThread(Logging* sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX);
 void setDefaultIdleParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void startIdleBench(void);
-void setIdleDT(int value);
 void setIdleOffset(float value);
 void setIdlePFactor(float value);
 void setIdleIFactor(float value);
 void setIdleDFactor(float value);
 void setIdleMode(idle_mode_e value DECLARE_ENGINE_PARAMETER_SUFFIX);
 void setTargetIdleRpm(int value);
-void setIdleDT(int value);
 void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration);
 float getIdlePidOffset(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 Pid * getIdlePid(DECLARE_ENGINE_PARAMETER_SIGNATURE);
diff --git a/firmware/controllers/algo/advance_map.cpp b/firmware/controllers/algo/advance_map.cpp
index a1643d12b5..6d1ba40220 100644
--- a/firmware/controllers/algo/advance_map.cpp
+++ b/firmware/controllers/algo/advance_map.cpp
@@ -146,8 +146,7 @@ angle_t getAdvanceCorrections(int rpm DECLARE_ENGINE_PARAMETER_SUFFIX) {
 				shouldResetTimingPid = false;
 			}
 			// get PID value (this is not an actual Advance Angle, but just a additive correction!)
-			percent_t timingRawCorr = idleTimingPid.getOutput(targetRpm, rpm,
-					/* is this the right dTime? this period is not exactly the period at which this code is invoked*/engineConfiguration->idleTimingPid.periodMs);
+			percent_t timingRawCorr = idleTimingPid.getOutput(targetRpm, rpm, FAST_CALLBACK_PERIOD_MS / 1000.0f);
 			// tps idle-running falloff
 			pidTimingCorrection = interpolateClamped(0.0f, timingRawCorr, CONFIG(idlePidDeactivationTpsThreshold), 0.0f, tps);
 			// rpm falloff
diff --git a/firmware/controllers/algo/engine.cpp b/firmware/controllers/algo/engine.cpp
index 033299367e..706a29ec68 100644
--- a/firmware/controllers/algo/engine.cpp
+++ b/firmware/controllers/algo/engine.cpp
@@ -25,6 +25,7 @@
 #include "fsio_impl.h"
 #include "perf_trace.h"
 #include "backup_ram.h"
+#include "idle_thread.h"
 #include "idle_hardware.h"
 #include "sensor.h"
 #include "gppwm.h"
@@ -189,6 +190,8 @@ void Engine::periodicSlowCallback(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 	updateGppwm();
 
+	updateIdleControl();
+
 	cylinderCleanupControl(PASS_ENGINE_PARAMETER_SIGNATURE);
 
 	standardAirCharge = getStandardAirCharge(PASS_ENGINE_PARAMETER_SIGNATURE);
diff --git a/firmware/controllers/algo/engine.h b/firmware/controllers/algo/engine.h
index ed6e9ba093..a887e27f0b 100644
--- a/firmware/controllers/algo/engine.h
+++ b/firmware/controllers/algo/engine.h
@@ -31,6 +31,7 @@
 #endif /* EFI_UNIT_TEST */
 
 #define FAST_CALLBACK_PERIOD_MS 5
+#define SLOW_CALLBACK_PERIOD_MS 50
 
 class RpmCalculator;
 class AirmassModelBase;
diff --git a/firmware/controllers/engine_controller.cpp b/firmware/controllers/engine_controller.cpp
index fd7530c1f1..3fc4069e63 100644
--- a/firmware/controllers/engine_controller.cpp
+++ b/firmware/controllers/engine_controller.cpp
@@ -156,7 +156,7 @@ class PeriodicSlowController : public PeriodicTimerController {
 
 	int getPeriodMs() override {
 		// no reason to have this configurable, looks like everyone is happy with 20Hz
-		return 50;
+		return SLOW_CALLBACK_PERIOD_MS;
 	}
 };
 
diff --git a/firmware/controllers/settings.cpp b/firmware/controllers/settings.cpp
index 194fb069b7..aa8703c6a4 100644
--- a/firmware/controllers/settings.cpp
+++ b/firmware/controllers/settings.cpp
@@ -996,12 +996,6 @@ const plain_get_integer_s getI_plain[] = {
 //		{"bor", setBor},
 //		{"can_mode", setCanType},
 //		{"idle_rpm", setTargetIdleRpm},
-//		{"idle_dt", setIdleDT},
-		//		{"", },
-		//		{"", },
-		//		{"", },
-		//		{"", },
-		//		{"", },
 };
 
 const plain_get_float_s getF_plain[] = {
@@ -1208,7 +1202,6 @@ const command_i_s commandsI[] = {{"ignition_mode", setIgnitionMode},
 #if EFI_IDLE_CONTROL
 		{"idle_position", setManualIdleValvePosition},
 		{"idle_rpm", setTargetIdleRpm},
-		{"idle_dt", setIdleDT},
 #endif /* EFI_IDLE_CONTROL */
 #endif /* EFI_PROD_CODE */
 
diff --git a/firmware/tunerstudio/rusefi.input b/firmware/tunerstudio/rusefi.input
index ecd0f479cc..a20d2e0aaf 100644
--- a/firmware/tunerstudio/rusefi.input
+++ b/firmware/tunerstudio/rusefi.input
@@ -79,8 +79,7 @@ enable2ndByteCanID = false
 
 ; CONFIG_DEFINITION_END
 	idleRpmPid_offset = "Constant base value"
-	idleRpmPid_periodMs = "PID recalculation period"
-	
+
 
 [Tuning]
    spotDepth       =   2 ; 0 = no indicators, 1 = Z only, 2 = XYZ indicators.
@@ -2445,7 +2444,6 @@ cmd_set_engine_type_default					= "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
 		field = "Max",									idleRpmPid_maxValue
 		field = "iTerm Min",							idlerpmpid_iTermMin
 		field = "iTerm Max",							idlerpmpid_iTermMax
-		field = "period",								idleRpmPid_periodMs
 		field = "RPM dead zone to deactivate IAC pid",	idlePidRpmDeadZone
 		field = "RPM upper limit to deactivate IAC pid",idlePidRpmUpperLimit
 		field = "PID Extra for low RPM",				pidExtraForLowRpm
@@ -2479,7 +2477,6 @@ cmd_set_engine_type_default					= "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
 		field = "Offset",									idleTimingPid_offset, {useIdleTimingPidControl == 1}
 		field = "Min Delta",								idleTimingPid_minValue, {useIdleTimingPidControl == 1}
 		field = "Max Delta",								idleTimingPid_maxValue, {useIdleTimingPidControl == 1}
-		field = "period",									idleTimingPid_periodMs, {useIdleTimingPidControl == 1}
 		field = "#See RPM dead zone to deactivate IAC pid"
 		field = "RPM working zone for timing pid",			idleTimingPidWorkZone, {useIdleTimingPidControl == 1}
 		field = "RPM working zone falloff",					idlePidFalloffDeltaRpm, {useIdleTimingPidControl == 1}
diff --git a/unit_tests/tests/test_idle_controller.cpp b/unit_tests/tests/test_idle_controller.cpp
index 7f6a622517..0ccdbc3366 100644
--- a/unit_tests/tests/test_idle_controller.cpp
+++ b/unit_tests/tests/test_idle_controller.cpp
@@ -58,7 +58,7 @@ TEST(idle, fsioPidParameters) {
 
 	// todo finish this unit test!
 //	timeNowUs = MS2US(700);
-	idleControllerInstance.PeriodicTask();
+	idleControllerInstance.update();
 //	ASSERT_EQ(0, engine->acSwitchLastChangeTime);
 //	ASSERT_EQ(1, engine->acSwitchState);
 }