diff --git a/firmware/controllers/algo/engine.h b/firmware/controllers/algo/engine.h
index 2745e8b45d..9b47123d50 100644
--- a/firmware/controllers/algo/engine.h
+++ b/firmware/controllers/algo/engine.h
@@ -150,6 +150,9 @@ public:
 	 */
 	floatms_t injectorLag;
 
+	/**
+	 * See useWarmupPidAfr
+	 */
 	Pid warmupAfrPid;
 
 	float baroCorrection;
diff --git a/firmware/controllers/alternatorController.cpp b/firmware/controllers/alternatorController.cpp
index 56174757dc..934ff897ef 100644
--- a/firmware/controllers/alternatorController.cpp
+++ b/firmware/controllers/alternatorController.cpp
@@ -63,7 +63,7 @@ static msg_t AltCtrlThread(int param) {
 			continue;
 		}
 
-		currentAltDuty = engineConfiguration->alternatorControl.offset + altPid.getValue(engineConfiguration->targetVBatt, getVBatt(PASS_ENGINE_PARAMETER_F), 1);
+		currentAltDuty = altPid.getValue(engineConfiguration->targetVBatt, getVBatt(PASS_ENGINE_PARAMETER_F), 1);
 		if (boardConfiguration->isVerboseAlternator) {
 			scheduleMsg(logger, "alt duty: %f/vbatt=%f/p=%f/i=%f/d=%f int=%f", currentAltDuty, getVBatt(PASS_ENGINE_PARAMETER_F),
 					altPid.getP(), altPid.getI(), altPid.getD(), altPid.getIntegration());
diff --git a/firmware/controllers/math/pid.cpp b/firmware/controllers/math/pid.cpp
index 706cbb59a3..1a2e82cb4a 100644
--- a/firmware/controllers/math/pid.cpp
+++ b/firmware/controllers/math/pid.cpp
@@ -36,7 +36,7 @@ float Pid::getValue(float target, float input, float dTime) {
 
 	prevError = error;
 
-	float result = pTerm + iTerm + dTerm;
+	float result = pTerm + iTerm + dTerm + pid->offset;
 	if (result > maxResult) {
 //		iTerm -= result - maxResult;
 		result = maxResult;