diff --git a/Inc/config.h b/Inc/config.h
index 312c965..8bfcd14 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -13,7 +13,7 @@
 #define PWM_FREQ         16000     // PWM frequency in Hz
 #define DEAD_TIME        32        // PWM deadtime
 
-#define DC_CUR_LIMIT     32         // Motor DC current limit in amps
+#define DC_CUR_LIMIT     34         // Motor DC current limit in amps
 
 //#define DEBUG_SERIAL_SERVOTERM
 #define DEBUG_SERIAL_ASCII
diff --git a/Src/bldc.c b/Src/bldc.c
index c9496b2..f694274 100644
--- a/Src/bldc.c
+++ b/Src/bldc.c
@@ -153,9 +153,9 @@ void DMA1_Channel1_IRQHandler() {
     return;
   }
 
-  batteryVoltage = batteryVoltage * 0.99 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.01;
+  batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.001;
 
-  if((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
+  if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
     LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
     //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
   } else {
@@ -163,7 +163,7 @@ void DMA1_Channel1_IRQHandler() {
     //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
   }
 
-  if((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP  > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
+  if(ABS((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP)  > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
     RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
   } else {
     RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
diff --git a/build/hover.hex b/build/hover.hex
index ce85813..4e106ce 100644
--- a/build/hover.hex
+++ b/build/hover.hex
@@ -1,23 +1,23 @@
 :020000040800F2
-:1000000000C0002025390008E5380008E93800085C
-:10001000ED380008F1380008F5380008000000004D
-:10002000000000000000000000000000F938000897
-:10003000FD380008000000000139000805390008FB
-:100040006D3900086D3900086D3900086D390008F8
-:100050006D3900086D3900086D3900086D390008E8
-:100060006D390008113900086D390008A9330008FE
-:100070006D3900086D3900086D3900086D390008C8
-:100080006D3900086D3900086D3900086D390008B8
-:100090006D3900086D3900086D3900086D390008A8
-:1000A0006D3900086D3900086D3900086D39000898
-:1000B0006D3900086D3900086D3900086D39000888
-:1000C0006D3900086D3900086D3900086D39000878
-:1000D0006D3900086D3900086D3900086D39000868
-:1000E0006D3900086D3900086D3900086D39000858
-:1000F0006D3900086D3900086D3900086D39000848
-:100100006D3900086D3900086D3900086D39000837
-:100110006D3900086D3900086D3900086D39000827
-:100120006D3900086D3900086D3900086D39000817
+:1000000000C00020A9390008693900086D390008CE
+:1000100071390008753900087939000800000000BE
+:100020000000000000000000000000007D39000812
+:10003000813900080000000085390008893900086E
+:10004000F1390008F1390008F1390008F1390008E8
+:10005000F1390008F1390008F1390008F1390008D8
+:10006000F139000895390008F1390008A933000872
+:10007000F1390008F1390008F1390008F1390008B8
+:10008000F1390008F1390008F1390008F1390008A8
+:10009000F1390008F1390008F1390008F139000898
+:1000A000F1390008F1390008F1390008F139000888
+:1000B000F1390008F1390008F1390008F139000878
+:1000C000F1390008F1390008F1390008F139000868
+:1000D000F1390008F1390008F1390008F139000858
+:1000E000F1390008F1390008F1390008F139000848
+:1000F000F1390008F1390008F1390008F139000838
+:10010000F1390008F1390008F1390008F139000827
+:10011000F1390008F1390008F1390008F139000817
+:10012000F1390008F1390008F1390008F139000807
 :1001300000000000000000000000000000000000BF
 :1001400000000000000000000000000000000000AF
 :10015000000000000000000000000000000000009F
@@ -36,10 +36,10 @@
 :10021800034B03B118477047840000208400002076
 :100228000000000010B5064C237843B9FFF7D8FF4B
 :10023800044B13B10448AFF300800123237010BDB1
-:1002480084000020000000002042000808B5084B88
+:100248008400002000000000A442000808B5084B04
 :100258001BB108480849AFF300800848036813B980
 :10026800BDE80840CCE7064B002BF9D09847F7E7E4
-:1002780000000000204200088800002084000020C0
+:1002780000000000A442000888000020840000203C
 :100288000000000081F0004102E000BF83F000435D
 :1002980030B54FEA41044FEA430594EA050F08BF19
 :1002A80090EA020F1FBF54EA000C55EA020C7FEADD
@@ -314,7 +314,7 @@
 :10137800C2F3834306A90B4413F8103C12F4803FD0
 :101388000CD00B4A5268C2F340420A4412F8140CBB
 :10139800084AB2FBF0F003FB00F004E0064800FB4B
-:1013A80003F000E0034806B030BC7047384200083C
+:1013A80003F000E0034806B030BC7047BC420008B8
 :1013B8000010024000127A0000093D0070B55C4B35
 :1013C8001B6803F007038B420BD2594A136823F0BA
 :1013D80007030B431360136803F007038B4240F0C5
@@ -339,12 +339,12 @@
 :10150800D8400E4B1860002000F08EFD002070BD02
 :10151800012070BD012070BD012070BD012070BD8B
 :10152800032070BD032070BD032070BD012070BD75
-:1015380000200240001002404C4200080000002039
+:101538000020024000100240D042000800000020B5
 :10154800014B1868704700BF0000002008B5FFF77E
 :10155800F7FF044B5B68C3F30223034AD35CD8400C
-:1015680008BD00BF001002405C42000808B5FFF744
+:1015680008BD00BF00100240E042000808B5FFF7C0
 :10157800E7FF044B5B68C3F3C223034AD35CD8403C
-:1015880008BD00BF001002405C42000830B4036A86
+:1015880008BD00BF00100240E042000830B4036A02
 :1015980023F001030362036A4468826922F073023C
 :1015A8000D682A4323F002038D682B43104DA8428F
 :1015B80003D005F50065A84205D123F00803CD68DE
@@ -810,8 +810,8 @@
 :103278004FF4487604F132039D4212DA323CA542FB
 :103288000FDD08F132039E420BDAA8F132084645F9
 :1032980007DD384B1B68312B03D8374B1E60374B83
-:1032A8001D600020314600F0DFFA0120294600F0B9
-:1032B800DBFA00F0DFFA2F4A136801331360304855
+:1032A8001D600020314600F021FB0120294600F076
+:1032B8001DFB00F021FB2F4A1368013313603048CF
 :1032C8000221FEF713FE88B100242E4B1C7005E086
 :1032D8002D4B1C706420FEF7DDFE0134072CF7DD52
 :1032E800274820210022FEF709FEFEE7274B1C682D
@@ -826,257 +826,266 @@
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+:1033A800F8B502227E4B5A607E4B1B68B3F57A7FD4
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