diff --git a/hoverbrettctrl/lib/hoverboard-esc-serial-comm b/hoverbrettctrl/lib/hoverboard-esc-serial-comm
index 214fecd..c2eba89 160000
--- a/hoverbrettctrl/lib/hoverboard-esc-serial-comm
+++ b/hoverbrettctrl/lib/hoverboard-esc-serial-comm
@@ -1 +1 @@
-Subproject commit 214fecdce421581dddd71cfd4e6ba0d4d77fc07c
+Subproject commit c2eba898ac628c6827d17c142a54e601bda5797b
diff --git a/hoverbrettctrl/src/main.cpp b/hoverbrettctrl/src/main.cpp
index 07b1423..236c3ae 100644
--- a/hoverbrettctrl/src/main.cpp
+++ b/hoverbrettctrl/src/main.cpp
@@ -371,7 +371,7 @@ void loop() {
     //Gametrak Control Code
     motorenabled=true;
     if (gt_length<=GT_LENGTH_MIN){ //let go
-      Serial.println("gametrak released");
+      //Serial.println("gametrak released");
       controlmode=MODE_DISARMED;
       motorenabled=false;
     }
@@ -393,14 +393,31 @@ void loop() {
       }
     }
     
+    static float safetymultiplier=1.0; //value to reduce output speed if gametrack is pointing too far down or up (string might be behind vehicle)
+    #define GT_SAFETY_THRESHOLD_H 120  //above which value (abs) safety slowdown should start
+    #define GT_SAFETY_THRESHOLD_V 120
+    #define SAFETYMULTIPLIER_UPDATE_INTERVAL 100
+    #define SAFETYMULTIPLIER_CHANGE_TIME_DOWN 2.0 //Time how long it should take to go from 100% to 0% when in safety slowdown
+    #define SAFETYMULTIPLIER_CHANGE_TIME_UP 1.0
+    static unsigned long last_safetymultiplier_update=0;
+
     
+    if (loopmillis-last_safetymultiplier_update > SAFETYMULTIPLIER_UPDATE_INTERVAL) {
+      if (abs(gt_vertical)>GT_SAFETY_THRESHOLD_V || abs(gt_horizontal)>GT_SAFETY_THRESHOLD_H) {
+        safetymultiplier-=1.0/(1000.0/SAFETYMULTIPLIER_UPDATE_INTERVAL)/SAFETYMULTIPLIER_CHANGE_TIME_DOWN;
+      }else{
+        safetymultiplier+=1.0/(1000.0/SAFETYMULTIPLIER_UPDATE_INTERVAL)/SAFETYMULTIPLIER_CHANGE_TIME_UP;
+      }
+      safetymultiplier=constrain(safetymultiplier,0.0,1.0);
+      last_safetymultiplier_update=loopmillis;
+    }
 
     //calculate speed l and r from speed and steer
     #define SPEED_COEFFICIENT_GT   1  // higher value == stronger
     #define STEER_COEFFICIENT_GT   0.5  // higher value == stronger
     int16_t _out_speedl,_out_speedr;
-    _out_speedl = constrain(set_speed * SPEED_COEFFICIENT_GT +  set_steer * STEER_COEFFICIENT_GT, -1000, 1000);
-    _out_speedr = constrain(set_speed * SPEED_COEFFICIENT_GT -  set_steer * STEER_COEFFICIENT_GT, -1000, 1000);
+    _out_speedl = constrain(set_speed * SPEED_COEFFICIENT_GT +  set_steer * STEER_COEFFICIENT_GT, -1000, 1000)*safetymultiplier;
+    _out_speedr = constrain(set_speed * SPEED_COEFFICIENT_GT -  set_steer * STEER_COEFFICIENT_GT, -1000, 1000)*safetymultiplier;
     esc.setSpeed(_out_speedl,_out_speedr);
   }
 
@@ -478,11 +495,19 @@ void updateDisplay(unsigned long loopmillis)
         display.println(F("UNDEF"));
         break;
     }
-    display.print(F("nrf_delay=")); display.println(last_nrfreceive_delay);
-    display.print(F("gt_length=")); display.println(gt_length);
+    
+    /*
+    display.print(F("Bat=")); display.print(esc.getFeedback_batVoltage()); display.print(F(" Temp=")); display.println(esc.getFeedback_boardTemp());
+    display.print(F("nrf_delay=")); display.print(last_nrfreceive_delay); display.print(F(" L=")); display.println(gt_length);
     display.print(F("maxdiff=")); display.println(raw_length_maxdiff);
     display.print(F("CMD=")); display.print(esc.getCmdL()); display.print(F(", ")); display.println(esc.getCmdR());
-    
+    //display.print(F("FBC=")); display.print(esc.getFeedback_cmd1()); display.print(F(", ")); display.print(esc.getFeedback_cmd2()); 
+    display.print(F(" sped=")); display.print(esc.getFeedback_speedL_meas()); display.print(F(", ")); display.println(esc.getFeedback_speedR_meas());
+    display.print(F("curDC=")); display.print(esc.getFiltered_curL()); display.print(F(", ")); display.println(esc.getFiltered_curL());
+    display.print(F("trip=")); display.print(esc.getTrip(),0); display.print(F(",")); display.print(esc.getCurrentConsumed(),3); display.println(F("Ah"));
+    */
+    display.print(F("H=")); display.print(gt_horizontal); display.print(F(" V=")); display.println(gt_vertical);
+    display.print(F("CMD=")); display.print(esc.getCmdL()); display.print(F(", ")); display.println(esc.getCmdR());
     
     display.display();      // Show initial text
     last_updatedisplay=loopmillis;