diff --git a/include/param_prj.h b/include/param_prj.h
index 959d3ad..6a5e184 100644
--- a/include/param_prj.h
+++ b/include/param_prj.h
@@ -17,7 +17,7 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#define VERSION 5.34
+#define VERSION 5.35
 
 /* Entries should be ordered as follows:
    1. Saveable parameters
@@ -25,7 +25,7 @@
    3. Display values
  */
 //Next param id (increase when adding new parameter!): 159
-//Next value Id: 2053
+//Next value Id: 2055
 /*              category     name         unit       min     max     default id */
 
 #define MOTOR_PARAMETERS_COMMON \
@@ -108,8 +108,8 @@
     PARAM_ENTRY(CAT_CHARGER, chargepwmax, "%",       0,      99,     90,     79  )
 
 #define THROTTLE_PARAMETERS_COMMON \
-    PARAM_ENTRY(CAT_THROTTLE,potmin,      "dig",     0,      4095,   0,      17  ) \
-    PARAM_ENTRY(CAT_THROTTLE,potmax,      "dig",     0,      4095,   4095,   18  ) \
+    PARAM_ENTRY(CAT_THROTTLE,potmin,      "dig",     0,      3500,   0,      17  ) \
+    PARAM_ENTRY(CAT_THROTTLE,potmax,      "dig",     0,      3500,   3500,   18  ) \
     PARAM_ENTRY(CAT_THROTTLE,pot2min,     "dig",     0,      4095,   4095,   63  ) \
     PARAM_ENTRY(CAT_THROTTLE,pot2max,     "dig",     0,      4095,   4095,   64  ) \
     PARAM_ENTRY(CAT_THROTTLE,potmode,     POTMODES,  0,      6,      0,      82  ) \
@@ -197,6 +197,7 @@
     VALUE_ENTRY(din_ocur,    OKERR,   2030 ) \
     VALUE_ENTRY(din_desat,   OKERR,   2031 ) \
     VALUE_ENTRY(din_bms,     ONOFF,   2032 ) \
+    VALUE_ENTRY(uptime,      "10ms",  2054 ) \
     VALUE_ENTRY(cpuload,     "%",     2035 ) \
 
 #define VALUES_SINE \
diff --git a/include/throttle.h b/include/throttle.h
index ae5f1f9..4a7d23c 100644
--- a/include/throttle.h
+++ b/include/throttle.h
@@ -40,6 +40,7 @@ class Throttle
       static void FrequencyLimitCommand(float& finalSpnt, float frequency);
       static float RampThrottle(float finalSpnt);
       static void UpdateDynamicRegenTravel(float regenTravelMax, float frequency);
+      static bool IsThrottlePressed(int pot1);
       static int potmin[2];
       static int potmax[2];
       static float brknom;
diff --git a/libopeninv b/libopeninv
index 637f16c..6f33c67 160000
--- a/libopeninv
+++ b/libopeninv
@@ -1 +1 @@
-Subproject commit 637f16cc464277aab2a86f911a8d26a5cfb8f47f
+Subproject commit 6f33c676cdc67c9a2bdd52530ff97eca1a98d287
diff --git a/src/pwmgeneration-sine.cpp b/src/pwmgeneration-sine.cpp
index f54cf5c..f3c9af7 100644
--- a/src/pwmgeneration-sine.cpp
+++ b/src/pwmgeneration-sine.cpp
@@ -243,6 +243,7 @@ PwmGeneration::EdgeType PwmGeneration::CalcRms(s32fp il, EdgeType& lastEdge, s32
 s32fp PwmGeneration::ProcessCurrents()
 {
    static s32fp currentMax[2];
+   static s32fp idcFiltered = 0;
    static int samples[2] = { 0 };
    static EdgeType lastEdge[2] = { PosEdge, PosEdge };
 
@@ -263,7 +264,8 @@ s32fp PwmGeneration::ProcessCurrents()
          s32fp idc = (SineCore::GetAmp() * rms) / SineCore::MAXAMP;
          idc = FP_MUL(idc, FP_FROMFLT(1.2247)); //multiply by sqrt(3)/sqrt(2)
          idc *= fslip < 0 ? -1 : 1;
-         Param::SetFixed(Param::idc, idc);
+         idcFiltered = IIRFILTER(idcFiltered, idc, Param::GetInt(Param::idcflt));
+         Param::SetFixed(Param::idc, idcFiltered);
       }
    }
    if (CalcRms(il2, lastEdge[1], currentMax[1], rms, samples[1], il2PrevRms))
diff --git a/src/stm32_sine.cpp b/src/stm32_sine.cpp
index 6e0e373..6792f80 100644
--- a/src/stm32_sine.cpp
+++ b/src/stm32_sine.cpp
@@ -149,7 +149,7 @@ static void Ms10Task(void)
 
    stt |= DigIo::emcystop_in.Get() || hwRev == HW_REV3 ? STAT_NONE : STAT_EMCYSTOP;
    stt |= DigIo::mprot_in.Get() ? STAT_NONE : STAT_MPROT;
-   stt |= Param::GetInt(Param::potnom) <= 0 ? STAT_NONE : STAT_POTPRESSED;
+   stt |= Throttle::IsThrottlePressed(Param::GetInt(Param::pot)) ? STAT_POTPRESSED : STAT_NONE;
    stt |= udc >= Param::GetFloat(Param::udcsw) ? STAT_NONE : STAT_UDCBELOWUDCSW;
    stt |= udc < Param::GetFloat(Param::udclim) ? STAT_NONE : STAT_UDCLIM;
    stt |= seenBrakePedal ? STAT_NONE : STAT_BRAKECHECK;
@@ -245,6 +245,8 @@ static void Ms10Task(void)
       initWait--;
    }
 
+   Param::SetInt(Param::uptime, rtc_get_counter_val());
+
    if (Param::GetInt(Param::canperiod) == CAN_PERIOD_10MS)
       canMap->SendAll();
 }
@@ -346,6 +348,12 @@ static void UpgradeParameters()
    if (Param::Get(Param::offthrotregen) > 0)
       Param::Set(Param::offthrotregen, -Param::Get(Param::offthrotregen));
 
+   s32fp maxPotMax = Param::GetAttrib(Param::potmax)->max;
+   s32fp potMax = Param::Get(Param::potmax);
+
+   if (potMax > maxPotMax)
+      Param::SetFixed(Param::potmax, maxPotMax);
+
    //Remove CAN mapping for safety critical values
    canMap->Remove(Param::pot);
    canMap->Remove(Param::pot2);
diff --git a/src/throttle.cpp b/src/throttle.cpp
index a015a01..bab4c4f 100644
--- a/src/throttle.cpp
+++ b/src/throttle.cpp
@@ -76,6 +76,12 @@ bool Throttle::CheckAndLimitRange(int* potval, uint8_t potIdx)
    return true;
 }
 
+bool Throttle::IsThrottlePressed(int pot1)
+{
+   float percent = DigitsToPercent(pot1, 0);
+   return percent > brknom;
+}
+
 float Throttle::DigitsToPercent(int potval, int potidx)
 {
    if (potidx > 1) return 0;
@@ -194,12 +200,8 @@ bool Throttle::HoldPosition(int distance, float& finalSpnt)
 
 bool Throttle::TemperatureDerate(float temp, float tempMax, float& finalSpnt)
 {
-   float limit = 0;
-
-   if (temp <= tempMax)
-      limit = 100.0f;
-   else if (temp < (tempMax + 2.0f))
-      limit = 50.0f;
+   float limit = (tempMax - temp) * 10; //derate 10% per °C as we approach tempMax
+   limit = MAX(0, limit);
 
    if (finalSpnt >= 0)
       finalSpnt = MIN(finalSpnt, limit);