diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 227733777e..ed4cf7fd41 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -174,15 +174,12 @@ static percent_t currentEtbDuty;
 // this macro clamps both positive and negative percentages from about -100% to 100%
 #define ETB_PERCENT_TO_DUTY(X) (maxF(minF((X * 0.01), ETB_DUTY_LIMIT - 0.01), 0.01 - ETB_DUTY_LIMIT))
 
-class EtbController : public PeriodicTimerController {
-public:
-	DECLARE_ENGINE_PTR;
 
-	int getPeriodMs() override {
+	int EtbController::getPeriodMs() {
 		return GET_PERIOD_LIMITED(&engineConfiguration->etb);
 	}
 
-	void PeriodicTask() override {
+	void EtbController::PeriodicTask() {
 		// set debug_mode 17
 		if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_PID) {
 #if EFI_TUNER_STUDIO
@@ -312,9 +309,8 @@ DISPLAY(DISPLAY_IF(hasEtbPedalPositionSensor))
 		tsOutputChannels.etb1Error = targetPosition - actualThrottlePosition;
 #endif /* EFI_TUNER_STUDIO */
 	}
-};
 
-static EtbController etbController;
+EtbController etbController;
 
 /**
  * set_etb_duty X
diff --git a/firmware/controllers/actuators/electronic_throttle.h b/firmware/controllers/actuators/electronic_throttle.h
index 288046ecf8..80a75216e4 100644
--- a/firmware/controllers/actuators/electronic_throttle.h
+++ b/firmware/controllers/actuators/electronic_throttle.h
@@ -13,6 +13,16 @@
 #define DEFAULT_ETB_PWM_FREQUENCY 300
 
 #include "engine.h"
+#include "periodic_task.h"
+
+class EtbController : public PeriodicTimerController {
+public:
+	DECLARE_ENGINE_PTR;
+
+	int getPeriodMs() override;
+	void PeriodicTask() override;
+};
+
 void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 void setDefaultEtbBiasCurve(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void setDefaultEtbParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE);
diff --git a/unit_tests/boards.cpp b/unit_tests/boards.cpp
index cf665621b7..5350c8e223 100644
--- a/unit_tests/boards.cpp
+++ b/unit_tests/boards.cpp
@@ -13,6 +13,7 @@ float testMafValue = 0;
 float testCltValue = 0;
 float testIatValue = 0;
 
+// see setMockVoltage
 float getVoltageDivided(const char *msg, adc_channel_e hwChannel DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	switch(hwChannel) {
 	case TEST_MAF_CHANNEL:
@@ -24,7 +25,7 @@ float getVoltageDivided(const char *msg, adc_channel_e hwChannel DECLARE_ENGINE_
 		return testIatValue;
 		//return adcToVolts(engine->engineState.mockAdcState.getMockAdcValue(hwChannel));
 	}
-	return 0;
+	return adcToVolts(engine->engineState.mockAdcState.getMockAdcValue(hwChannel));;
 }
 
 float getVoltage(const char *msg, adc_channel_e hwChannel DECLARE_ENGINE_PARAMETER_SUFFIX) {
diff --git a/unit_tests/tests/test_idle_controller.cpp b/unit_tests/tests/test_idle_controller.cpp
index 17816d6e5a..4f61f54994 100644
--- a/unit_tests/tests/test_idle_controller.cpp
+++ b/unit_tests/tests/test_idle_controller.cpp
@@ -13,6 +13,7 @@
 #include "idle_thread.h"
 #include "allsensors.h"
 #include "engine_controller.h"
+#include "electronic_throttle.h"
 
 extern IdleController idleControllerInstance;
 extern int timeNowUs;
@@ -183,10 +184,23 @@ TEST(idle, timingPid) {
 
 }
 
+// not great that we are reusing shared instance. todo: move EtbController to Engine?
+extern EtbController etbController;
 
 TEST(idle, testTargetTpsIsFloatBug945) {
 
 	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
 
+	setMockThrottlePedalSensorVoltage(3 PASS_ENGINE_PARAMETER_SUFFIX);
+	etbController.PeriodicTask();
+	ASSERT_NEAR(50, engine->engineState.targetFromTable, EPS4D);
+
+	setMockThrottlePedalSensorVoltage(3.05 PASS_ENGINE_PARAMETER_SUFFIX);
+	etbController.PeriodicTask();
+	ASSERT_NEAR(50, engine->engineState.targetFromTable, EPS4D);
+
+	setMockThrottlePedalSensorVoltage(3.1 PASS_ENGINE_PARAMETER_SUFFIX);
+	etbController.PeriodicTask();
+	ASSERT_NEAR(51, engine->engineState.targetFromTable, EPS4D);
 
 }