diff --git a/firmware/controllers/math/pid.cpp b/firmware/controllers/math/pid.cpp
index 92a6eb5608..6a5170ae98 100644
--- a/firmware/controllers/math/pid.cpp
+++ b/firmware/controllers/math/pid.cpp
@@ -45,12 +45,20 @@ float Pid::getValue(float target, float input, float dTime) {
 
 	prevError = error;
 
+	/**
+	 * If we have exceeded the ability of the controlled device to hit target, the I factor will keep accumulating and approach infinity.
+	 * Here we limit the I-term #353
+	 */
+	if (iTerm > maxResult - (pTerm + dTerm + pid->offset))
+		iTerm = maxResult - (pTerm + dTerm + pid->offset);
+
+	if (iTerm < minResult - (pTerm + dTerm + pid->offset))
+		iTerm = minResult - (pTerm + dTerm + pid->offset);
+
 	float result = pTerm + iTerm + dTerm + pid->offset;
 	if (result > maxResult) {
-//		iTerm -= result - maxResult;
 		result = maxResult;
 	} else if (result < minResult) {
-//		iTerm += minResult - result;
 		result = minResult;
 	}
 	return result;
diff --git a/firmware/rusefi.cpp b/firmware/rusefi.cpp
index 4d4748e377..932a50727b 100644
--- a/firmware/rusefi.cpp
+++ b/firmware/rusefi.cpp
@@ -249,5 +249,5 @@ int getRusEfiVersion(void) {
 		return 123; // this is here to make the compiler happy about the unused array
 	if (UNUSED_CCM_SIZE[0] * 0 != 0)
 		return 3211; // this is here to make the compiler happy about the unused array
-	return 20170212;
+	return 20170213;
 }