diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 6eff7ee366..09cbcdcb3d 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -264,6 +264,11 @@ void EtbController::PeriodicTask() {
 #endif /* EFI_TUNER_STUDIO */
 	}
 
+	if (cisnan(targetPosition)) {
+		// this could happen while changing settings
+		warning(CUSTOM_ERR_ETB_TARGET, "target");
+		return;
+	}
 	engine->engineState.etbFeedForward = interpolate2d("etbb", targetPosition, engineConfiguration->etbBiasBins, engineConfiguration->etbBiasValues);
 
 	etbPid.iTermMin = engineConfiguration->etb_iTermMin;
diff --git a/firmware/controllers/algo/obd_error_codes.h b/firmware/controllers/algo/obd_error_codes.h
index 0c16c24ad7..e5ade9f1ab 100644
--- a/firmware/controllers/algo/obd_error_codes.h
+++ b/firmware/controllers/algo/obd_error_codes.h
@@ -2026,14 +2026,14 @@ typedef enum {
 	CUSTOM_ERR_6665 = 6665,
 	CUSTOM_ERR_6666 = 6666,
 	CUSTOM_ERR_ADCANCE_CALC_ANGLE = 6667,
-	CUSTOM_ERR_6668 = 6668,
+	CUSTOM_ERR_ETB_TARGET = 6668,
 	CUSTOM_ERR_6669 = 6669,
 
 	CUSTOM_ERR_6670 = 6670,
-	CUSTOM_ERR_6671 = 6671,
-	CUSTOM_ERR_6672 = 6672,
-	CUSTOM_ERR_6673 = 6673,
-	CUSTOM_ERR_6674 = 6674,
+	CUSTOM_STACK_ADC_6671 = 6671,
+	CUSTOM_ICU_DRIVER = 6672,
+	CUSTOM_ICU_DRIVER_STATE = 6673,
+	CUSTOM_STACK_SPI = 6674,
 	CUSTOM_ERR_6675 = 6675,
 	CUSTOM_ERR_6676 = 6676,
 	CUSTOM_IH_STACK = 6677,
diff --git a/firmware/hw_layer/adc_inputs.cpp b/firmware/hw_layer/adc_inputs.cpp
index 9f938792fe..e4c1a87953 100644
--- a/firmware/hw_layer/adc_inputs.cpp
+++ b/firmware/hw_layer/adc_inputs.cpp
@@ -468,7 +468,7 @@ static void adc_callback_slow(ADCDriver *adcp, adcsample_t *buffer, size_t n) {
 	if (adcp->state == ADC_COMPLETE) {
 		slowAdc.invalidateSamplesCache();
 
-		efiAssertVoid(CUSTOM_ERR_6671, getCurrentRemainingStack() > 128, "lowstck#9c");
+		efiAssertVoid(CUSTOM_STACK_ADC_6671, getCurrentRemainingStack() > 128, "lowstck#9c");
 
 		/* Calculates the average values from the ADC samples.*/
 		for (int i = 0; i < slowAdc.size(); i++) {
diff --git a/firmware/hw_layer/digital_input_icu.cpp b/firmware/hw_layer/digital_input_icu.cpp
index 81b8b33bdb..153ff58f00 100644
--- a/firmware/hw_layer/digital_input_icu.cpp
+++ b/firmware/hw_layer/digital_input_icu.cpp
@@ -281,8 +281,8 @@ void startInputDriver(const char *msg, /*nullable*/digital_input_s *hw, bool isA
 		}
 		wave_icucfg.channel = getInputCaptureChannel(hw->brainPin);
 		efiIcuStart(msg, driver, &wave_icucfg);
-		efiAssertVoid(CUSTOM_ERR_6672, driver != NULL, "di: driver is NULL");
-		efiAssertVoid(CUSTOM_ERR_6673, driver->state == ICU_READY, "di: driver not ready");
+		efiAssertVoid(CUSTOM_ICU_DRIVER, driver != NULL, "di: driver is NULL");
+		efiAssertVoid(CUSTOM_ICU_DRIVER_STATE, driver->state == ICU_READY, "di: driver not ready");
         icuStartCapture(driver); // this would change state from READY to WAITING
 		icuEnableNotifications(driver);
 	}
diff --git a/firmware/hw_layer/hardware.cpp b/firmware/hw_layer/hardware.cpp
index 19ec970629..fc94bb0599 100644
--- a/firmware/hw_layer/hardware.cpp
+++ b/firmware/hw_layer/hardware.cpp
@@ -93,7 +93,7 @@ bool rtcWorks = true;
  */
 void lockSpi(spi_device_e device) {
 	UNUSED(device);
-	efiAssertVoid(CUSTOM_ERR_6674, getCurrentRemainingStack() > 128, "lockSpi");
+	efiAssertVoid(CUSTOM_STACK_SPI, getCurrentRemainingStack() > 128, "lockSpi");
 	// todo: different locks for different SPI devices!
 	chMtxLock(&spiMtx);
 }
diff --git a/firmware/hw_layer/pin_repository.cpp b/firmware/hw_layer/pin_repository.cpp
index 770689f157..7d18ff32f9 100644
--- a/firmware/hw_layer/pin_repository.cpp
+++ b/firmware/hw_layer/pin_repository.cpp
@@ -197,8 +197,7 @@ bool brain_pin_markUsed(brain_pin_e brainPin, const char *msg) {
  * See also brain_pin_markUsed()
  */
 
-void brain_pin_markUnused(brain_pin_e brainPin)
-{
+void brain_pin_markUnused(brain_pin_e brainPin) {
 	int index;
 
 	if (!initialized) {