diff --git a/controller_teensy/include/definitions.h b/controller_teensy/include/definitions.h
index f490f7f..69b41b7 100644
--- a/controller_teensy/include/definitions.h
+++ b/controller_teensy/include/definitions.h
@@ -74,6 +74,7 @@ uint16_t brake_raw=failsafe_brake_min;  //start at min so that failsafe is not t
 #define ADC_DIFFHIGH_TIME 500 //for failsafe_throttle_maxDiff. how long values need to stay bad to trigger failsafe
 
 bool error_throttle_outofrange=false;
+bool error_throttle_difftoohigh=false;
 bool error_brake_outofrange=false;
 bool error_ads_max_read_interval=false;
 bool error_sdfile_unavailable=false;
diff --git a/controller_teensy/include/display.h b/controller_teensy/include/display.h
index 94be73e..bb3222b 100644
--- a/controller_teensy/include/display.h
+++ b/controller_teensy/include/display.h
@@ -51,7 +51,7 @@ void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){
   display.print(F(" / ")); display.println(escRear.getFeedback_batVoltage());
   */
 
-  if ( (error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval || error_sdfile_unavailable) && ((loopmillis/2000)%2==0)) {
+  if ( (error_brake_outofrange || error_throttle_outofrange || error_throttle_difftoohigh || error_ads_max_read_interval || error_sdfile_unavailable) && ((loopmillis/2000)%2==0)) {
     //Error Messages
     
     display.setFont();
@@ -68,6 +68,9 @@ void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){
     if (error_throttle_outofrange) {
       errorstring+="throttle_outofrange\n";
     }
+    if (error_throttle_difftoohigh) {
+      errorstring+="throttle_difftoohigh\n";
+    }
     if (error_ads_max_read_interval) {
       errorstring+="ads_max_read_interval\n";
     }if (error_sdfile_unavailable) {
diff --git a/controller_teensy/include/led.h b/controller_teensy/include/led.h
index 71c4c90..37abd4a 100644
--- a/controller_teensy/include/led.h
+++ b/controller_teensy/include/led.h
@@ -103,7 +103,7 @@ void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
 
         
 
-        if (error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval) {
+        if (error_brake_outofrange || error_throttle_outofrange || error_throttle_difftoohigh || error_ads_max_read_interval) {
             //Error
             
         }else{
diff --git a/controller_teensy/src/main.cpp b/controller_teensy/src/main.cpp
index 11d889b..f5aee5b 100644
--- a/controller_teensy/src/main.cpp
+++ b/controller_teensy/src/main.cpp
@@ -430,7 +430,6 @@ void readADC() {
   //Serial.print(throttle_posA); Serial.print('\t'); 
   //Serial.print(throttle_posB); Serial.print('\t'); 
   
-  int16_t _throttlediff = (int)throttle_posA-(int)throttle_posB;
   int16_t throttle_posMean = (throttle_posA+throttle_posB)/2.0;   
   
   
@@ -529,8 +528,8 @@ void failChecks() {
     throttlediff_ok_time=loopmillis;
   }
   if (loopmillis>throttlediff_ok_time+ADC_DIFFHIGH_TIME) { //not ok for too long
-    if (!error_throttle_outofrange) {
-      error_throttle_outofrange=true;
+    if (!error_throttle_difftoohigh) {
+      error_throttle_difftoohigh=true;
       writeLogComment(loopmillis, "Error Throttle Diff too High. A="+(String)ads_throttle_A_raw+" B="+(String)ads_throttle_B_raw);
     }
     //Serial.print("Error Throttle ADC Out of Range="); Serial.println(throttle_raw);
@@ -563,7 +562,7 @@ void failChecks() {
     writeLogComment(loopmillis, "Error SDFile Unavailable");      
   }
 
-  if (!controllers_connected || error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval) { //any errors?
+  if (!controllers_connected || error_brake_outofrange || error_throttle_outofrange || error_throttle_difftoohigh || error_ads_max_read_interval) { //any errors?
     armed=false; //disarm
     throttle_pos=0;
     brake_pos=0;
@@ -589,9 +588,7 @@ void calculateSetSpeed(unsigned long timediff){
   filtered_currentAll=filtered_currentFront+filtered_currentRear; //positive value is current Drawn from battery. negative value is braking current
   
 
-  if (throttle_pos>=last_cmd_send) { //accelerating
-    cmd_send += constrain(throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly
-  }else{ //freewheeling or braking
+  if(throttle_pos<last_cmd_send){ //freewheeling or braking
     if (filtered_currentAll>freewheel_current) { //drive current too high
       cmd_send-= max(0, (filtered_currentAll-freewheel_current)*freewheel_break_factor*(timediff/1000.0)); //how much current over freewheel current, multiplied by factor. reduces cmd_send value
     }
@@ -599,6 +596,9 @@ void calculateSetSpeed(unsigned long timediff){
     
   }
 
+  //acceleration
+  cmd_send += constrain(throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly
+
   cmd_send=constrain(cmd_send,0,1000);
 
   last_cmd_send=cmd_send;