diff --git a/include/param_prj.h b/include/param_prj.h
index 7839f57..631446d 100644
--- a/include/param_prj.h
+++ b/include/param_prj.h
@@ -17,14 +17,14 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#define VER 5.10.R
+#define VER 5.11.R
 
 /* Entries must be ordered as follows:
    1. Saveable parameters (id != 0)
    2. Temporary parameters (id = 0)
    3. Display values
  */
-//Next param id (increase when adding new parameter!): 135
+//Next param id (increase when adding new parameter!): 138
 //Next value Id: 2049
 /*              category     name         unit       min     max     default id */
 
@@ -54,6 +54,7 @@
     PARAM_ENTRY(CAT_MOTOR,   curki,       "",        0,      100000, 20000,  108 ) \
     PARAM_ENTRY(CAT_MOTOR,   curkifrqgain,"dig/Hz",  0,      1000,   50,     120 ) \
     PARAM_ENTRY(CAT_MOTOR,   fwkp,        "",        -10000, 0,      -100,   118 ) \
+    PARAM_ENTRY(CAT_MOTOR,   ffwstart,    "Hz",      0,      1000,   200,    136 ) \
     PARAM_ENTRY(CAT_MOTOR,   syncofs,     "dig",     0,      65535,  0,      70  ) \
     PARAM_ENTRY(CAT_MOTOR,   syncadv,     "dig/Hz",  0,      65535,  10,     133 )
 
diff --git a/libopeninv b/libopeninv
index 9dbc313..952921d 160000
--- a/libopeninv
+++ b/libopeninv
@@ -1 +1 @@
-Subproject commit 9dbc313824b43e3ce262b18dd1f4abd82dad5f86
+Subproject commit 952921dfab9f9bceb73b04f46879c2888b8a3ebf
diff --git a/src/pwmgeneration-foc.cpp b/src/pwmgeneration-foc.cpp
index 0472286..f1e7e06 100644
--- a/src/pwmgeneration-foc.cpp
+++ b/src/pwmgeneration-foc.cpp
@@ -50,6 +50,7 @@ void PwmGeneration::Run()
    {
       static s32fp frqFiltered = 0, idcFiltered = 0;
       int dir = Param::GetInt(Param::dir);
+      int moddedfwkp;
       int kifrqgain = Param::GetInt(Param::curkifrqgain);
       s32fp id, iq;
 
@@ -61,15 +62,29 @@ void PwmGeneration::Run()
       frqFiltered = IIRFILTER(frqFiltered, frq, 8);
       int moddedKi = curki + kifrqgain * FP_TOINT(frqFiltered);
 
+      if (frq < Param::Get(Param::ffwstart))
+      {
+         moddedfwkp = 0;
+      }
+      else if (frq > Param::Get(Param::fmax))
+      {
+         moddedfwkp = fwBaseGain;
+      }
+      else
+      {
+         moddedfwkp = fwBaseGain * (FP_TOINT(frq) - Param::GetInt(Param::ffwstart));
+         moddedfwkp/= Param::GetInt(Param::fmax) - Param::GetInt(Param::ffwstart);
+      }
+
       qController.SetIntegralGain(moddedKi);
       dController.SetIntegralGain(moddedKi);
-      fwController.SetProportionalGain(fwBaseGain * dir);
+      fwController.SetProportionalGain(moddedfwkp * dir);
 
       ProcessCurrents(id, iq);
 
       if (opmode == MOD_RUN && initwait == 0)
       {
-         s32fp fwIdRef = idref <= 0 ? fwController.RunProportionalOnly(iq) : 0;
+         s32fp fwIdRef = fwController.RunProportionalOnly(iq);
          dController.SetRef(idref + fwIdRef);
          Param::SetFixed(Param::ifw, fwIdRef);
       }
diff --git a/src/throttle.cpp b/src/throttle.cpp
index 8eabb9e..df5a632 100644
--- a/src/throttle.cpp
+++ b/src/throttle.cpp
@@ -97,7 +97,7 @@ float Throttle::CalcThrottle(float potnom, float pot2nom, bool brkpedal)
    else
    {
       potnom -= brknom;
-      potnom = 100.0 * potnom / (100.0 - brknom);
+      potnom = 100.0f * potnom / (100.0f - brknom);
    }
 
    return potnom;
@@ -139,7 +139,7 @@ float Throttle::CalcCruiseSpeed(int speed)
    int speederr = cruiseSpeed - speedFiltered;
 
    float potnom = speedkp * speederr;
-   potnom = MIN(100.0, potnom);
+   potnom = MIN(100.0f, potnom);
    potnom = MAX(brkcruise, potnom);
 
    return potnom;
@@ -150,16 +150,16 @@ bool Throttle::TemperatureDerate(float temp, float tempMax, float& finalSpnt)
    float limit = 0;
 
    if (temp <= tempMax)
-      limit = 100.0;
-   else if (temp < (tempMax + 2.0))
-      limit = 50.0;
+      limit = 100.0f;
+   else if (temp < (tempMax + 2.0f))
+      limit = 50.0f;
 
    if (finalSpnt >= 0)
       finalSpnt = MIN(finalSpnt, limit);
    else
       finalSpnt = MAX(finalSpnt, -limit);
 
-   return limit < 100.0;
+   return limit < 100.0f;
 }
 
 void Throttle::BmsLimitCommand(float& finalSpnt, bool dinbms)
@@ -195,16 +195,16 @@ void Throttle::IdcLimitCommand(float& finalSpnt, float idc)
 {
    if (finalSpnt >= 0)
    {
-      s32fp idcerr = idcmax - idc;
-      s32fp res = idcerr * idckp;
+      float idcerr = idcmax - idc;
+      float res = idcerr * idckp;
 
       res = MAX(0, res);
       finalSpnt = MIN(res, finalSpnt);
    }
    else
    {
-      s32fp idcerr = idcmin - idc;
-      s32fp res = idcerr * idckp;
+      float idcerr = idcmin - idc;
+      float res = idcerr * idckp;
 
       res = MIN(0, res);
       finalSpnt = MAX(res, finalSpnt);
@@ -222,7 +222,7 @@ void Throttle::FrequencyLimitCommand(float& finalSpnt, float frequency)
       float frqerr = fmax - frqFiltered;
       float res = frqerr * 4;
 
-      res = MAX(1, res);
+      res = MAX(0, res);
       finalSpnt = MIN(res, finalSpnt);
    }
 }
diff --git a/src/vehiclecontrol.cpp b/src/vehiclecontrol.cpp
index 390828e..34e8f1e 100644
--- a/src/vehiclecontrol.cpp
+++ b/src/vehiclecontrol.cpp
@@ -467,7 +467,7 @@ void VehicleControl::GetTemps(float& tmphs, float &tmpm)
             priusTempCoeff *= 2;
          }
 
-         tmphs = 166.66 - tmphsi / priusTempCoeff;
+         tmphs = 166.66f - tmphsi / priusTempCoeff;
       }
       else if (snshs == TempMeas::TEMP_BMWI3HS)
       {