diff --git a/firmware/config/engines/custom_engine.cpp b/firmware/config/engines/custom_engine.cpp
index d978f3fac3..e6a0bea4b5 100644
--- a/firmware/config/engines/custom_engine.cpp
+++ b/firmware/config/engines/custom_engine.cpp
@@ -276,8 +276,9 @@ void setEtbTestConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 #if EFI_PROD_CODE || defined(__DOXYGEN__)
 	setDefaultEtbParameters(PASS_ENGINE_PARAMETER_SIGNATURE);
-	engineConfiguration->etb.minValue = -100;
-	engineConfiguration->etb.maxValue = 100;
+	// values are above 100% since we have feedforward part of the total summation
+	engineConfiguration->etb.minValue = -200;
+	engineConfiguration->etb.maxValue = 200;
 #endif
 
 	engineConfiguration->tpsAdcChannel = EFI_ADC_2; // PA2
diff --git a/firmware/controllers/electronic_throttle.cpp b/firmware/controllers/electronic_throttle.cpp
index 232843432d..b11e1aee09 100644
--- a/firmware/controllers/electronic_throttle.cpp
+++ b/firmware/controllers/electronic_throttle.cpp
@@ -38,6 +38,11 @@
  * set debug_mode 17
  * for PID outputs
  *
+ * set etb_p X
+ * set etb_i X
+ * set etb_d X
+ *
+ *
  * http://rusefi.com/forum/viewtopic.php?f=5&t=592
  *
  * @date Dec 7, 2013
@@ -104,10 +109,11 @@ static percent_t currentEtbDuty;
 
 //static bool wasEtbBraking = false;
 
-// todo: need to fix PWM so that it supports zero duty cycle
-//#define PERCENT_TO_DUTY(X) (maxF(minI(X, 99.9), 0.1) / 100.0)
+// looks like my H-bridge does not like 100% duty cycle and it just hangs up?
+// so we use 99.9% to indicate that things are alive
+#define PERCENT_TO_DUTY(X) (maxF(minI(X, 99.9), -99.9) / 100.0)
 
-#define PERCENT_TO_DUTY(X) ((X) / 100.0)
+//#define PERCENT_TO_DUTY(X) ((X) / 100.0)
 
 class EtbController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
 public:
@@ -222,6 +228,7 @@ static void showEthInfo(void) {
 			getPinNameByAdcChannel("tPedal", engineConfiguration->throttlePedalPositionAdcChannel, pinNameBuffer));
 
 	scheduleMsg(&logger, "TPS=%.2f", getTPS());
+	scheduleMsg(&logger, "dir=%d", dcMotor.isOpenDirection());
 
 	scheduleMsg(&logger, "etbControlPin1=%s duty=%.2f freq=%d",
 			hwPortname(CONFIGB(etbControlPin1)),
@@ -231,18 +238,27 @@ static void showEthInfo(void) {
 	pid.showPidStatus(&logger, "ETB");
 }
 
+/**
+ * set etb_p X
+ */
 void setEtbPFactor(float value) {
 	engineConfiguration->etb.pFactor = value;
 	pid.reset();
 	showEthInfo();
 }
 
+/**
+ * set etb_i X
+ */
 void setEtbIFactor(float value) {
 	engineConfiguration->etb.iFactor = value;
 	pid.reset();
 	showEthInfo();
 }
 
+/**
+ * set etb_d X
+ */
 void setEtbDFactor(float value) {
 	engineConfiguration->etb.dFactor = value;
 	pid.reset();
@@ -377,7 +393,7 @@ void initElectronicThrottle(void) {
 	tuneWorkingPidSettings.maxValue = 100;
 	tuneWorkingPidSettings.periodMs = 100;
 
-	// this is useful one you do "enable etb_auto"
+	// this is useful once you do "enable etb_auto"
 	addConsoleActionF("set_etbat_output", setTempOutput);
 	addConsoleActionF("set_etbat_step", setAutoStep);
 	addConsoleActionI("set_etbat_period", setAutoPeriod);
diff --git a/firmware/controllers/system/DcMotor.cpp b/firmware/controllers/system/DcMotor.cpp
index 47fd37d085..e3a9f8c9fe 100644
--- a/firmware/controllers/system/DcMotor.cpp
+++ b/firmware/controllers/system/DcMotor.cpp
@@ -15,12 +15,20 @@ TwoPinDcMotor::TwoPinDcMotor(SimplePwm* pwm, OutputPin* dir1, OutputPin* dir2)
 {
 }
 
+bool TwoPinDcMotor::isOpenDirection() {
+	return isPositiveOrZero;
+}
+
+float TwoPinDcMotor::Get() {
+	return value;
+}
+
 /**
  * @param duty value between -1.0 and 1.0
  */
 bool TwoPinDcMotor::Set(float duty)
 {
-    bool isPositiveOrZero;
+	this->value = duty;
 
     if(duty < 0)
     {
diff --git a/firmware/controllers/system/DcMotor.h b/firmware/controllers/system/DcMotor.h
index 0783d1f0bf..cf9d2ef6b1 100644
--- a/firmware/controllers/system/DcMotor.h
+++ b/firmware/controllers/system/DcMotor.h
@@ -41,6 +41,8 @@ private:
     SimplePwm* const m_pwm;
     OutputPin* const m_dir1;
     OutputPin* const m_dir2;
+    float value = 0;
+    bool isPositiveOrZero = false;
 public:
     /**
      * @param pwm SimplePwm driver for enable pin, for PWM speed control.
@@ -50,4 +52,6 @@ public:
     TwoPinDcMotor(SimplePwm* pwm, OutputPin* dir1, OutputPin* dir2);
 
     virtual bool Set(float duty) override;
+    float Get();
+    bool isOpenDirection();
 };