diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 596fb8f3fd..13863cf7ff 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -98,6 +98,8 @@ static pedal2tps_t pedal2tpsMap("Pedal2Tps");
 
 EXTERN_ENGINE;
 
+constexpr float etbPeriodSeconds = 1.0f / ETB_LOOP_FREQUENCY;
+
 static bool startupPositionError = false;
 
 #define STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD 5
@@ -205,6 +207,9 @@ bool EtbController::init(etb_function_e function, DcMotor *motor, pid_s *pidPara
 	m_pid.initPidClass(pidParameters);
 	m_pedalMap = pedalMap;
 
+	// Ignore 3% position error before complaining
+	m_errorAccumulator.init(3.0f, etbPeriodSeconds);
+
 	reset();
 
 	return true;
@@ -444,8 +449,23 @@ expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t obs
 		&& m_function == ETB_Throttle1) {
 		return getClosedLoopAutotune(observation);
 	} else {
+		// Check that we're not over the error limit
+		float errorIntegral = m_errorAccumulator.accumulate(target - observation);
+
+#if EFI_TUNER_STUDIO
+		if (m_function == ETB_Throttle1 && CONFIG(debugMode) == DBG_ETB_LOGIC) {
+			tsOutputChannels.debugFloatField3 = errorIntegral;
+		}
+#endif // EFI_TUNER_STUDIO
+
+		// Allow up to 10 percent-seconds of error
+		if (errorIntegral > 10.0f) {
+			// TODO: figure out how to handle uncalibrated ETB 
+			//ENGINE(limpManager).etbProblem();
+		}
+
 		// Normal case - use PID to compute closed loop part
-		return m_pid.getOutput(target, observation, 1.0f / ETB_LOOP_FREQUENCY);
+		return m_pid.getOutput(target, observation, etbPeriodSeconds);
 	}
 }
 
diff --git a/firmware/controllers/actuators/electronic_throttle_impl.h b/firmware/controllers/actuators/electronic_throttle_impl.h
index bed39a21e8..8d2da53f45 100644
--- a/firmware/controllers/actuators/electronic_throttle_impl.h
+++ b/firmware/controllers/actuators/electronic_throttle_impl.h
@@ -12,6 +12,7 @@
 
 #include "sensor.h"
 #include "pid.h"
+#include "error_accumulator.h"
 
 /**
  * Hard code ETB update speed.
@@ -74,6 +75,7 @@ private:
 	DcMotor *m_motor = nullptr;
 	Pid m_pid;
 	bool m_shouldResetPid = false;
+	ErrorAccumulator m_errorAccumulator;
 
 	// Pedal -> target map
 	const ValueProvider3D* m_pedalMap = nullptr;