diff --git a/include/project/param_prj.h b/include/project/param_prj.h
index 41e37ad..5dc84a0 100644
--- a/include/project/param_prj.h
+++ b/include/project/param_prj.h
@@ -17,7 +17,7 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#define VER 4.54.R
+#define VER 4.55.R
 
 /* Entries must be ordered as follows:
    1. Saveable parameters (id != 0)
@@ -83,7 +83,7 @@
     PARAM_ENTRY(CAT_THROTTLE,ampmin,      "%",       0,      100,    10,     4   ) \
     PARAM_ENTRY(CAT_THROTTLE,slipstart,   "%",       10,     100,    50,     90  ) \
     PARAM_ENTRY(CAT_REGEN,   brknompedal, "%",       -100,   0,      -50,    38  ) \
-    PARAM_ENTRY(CAT_REGEN,   brkpedalramp,"%/10ms",  1,      100,    100,    68  ) \
+    PARAM_ENTRY(CAT_REGEN,   regenramp,   "%/10ms",  1,      100,    100,    68  ) \
     PARAM_ENTRY(CAT_REGEN,   brknom,      "%",       0,      100,    30,     19  ) \
     PARAM_ENTRY(CAT_REGEN,   brkmax,      "%",       -100,   0,      -30,    49  ) \
     PARAM_ENTRY(CAT_REGEN,   brkrampstr,  "Hz",      0,      400,    10,     39  ) \
diff --git a/include/project/throttle.h b/include/project/throttle.h
index 0086b41..31e0be7 100644
--- a/include/project/throttle.h
+++ b/include/project/throttle.h
@@ -48,7 +48,7 @@ class Throttle
       static s32fp speedkp;
       static int speedflt;
       static s32fp idleThrotLim;
-      static s32fp brkPedalRamp;
+      static s32fp regenRamp;
       static s32fp throttleRamp;
       static int bmslimhigh;
       static int bmslimlow;
diff --git a/src/project/pwmgeneration-sine.cpp b/src/project/pwmgeneration-sine.cpp
index 7874067..249bf93 100644
--- a/src/project/pwmgeneration-sine.cpp
+++ b/src/project/pwmgeneration-sine.cpp
@@ -159,8 +159,8 @@ void PwmGeneration::SetTorquePercent(s32fp torque)
 
    ampnomLocal = MIN(ampnomLocal, FP_FROMINT(100));
    //anticipate sudden changes by filtering
-   ampnom = IIRFILTER(ampnom, ampnomLocal, 3);
-   fslip = IIRFILTER(fslip, fslipspnt, 3);
+   ampnom = IIRFILTER(ampnom, ampnomLocal, 4);
+   fslip = IIRFILTER(fslip, fslipspnt, 4);
    Param::Set(Param::ampnom, ampnom);
    Param::Set(Param::fslipspnt, fslip);
 
diff --git a/src/project/stm32_sine.cpp b/src/project/stm32_sine.cpp
index 2faa127..d831f9a 100644
--- a/src/project/stm32_sine.cpp
+++ b/src/project/stm32_sine.cpp
@@ -726,7 +726,7 @@ extern void parm_Change(Param::PARAM_NUM paramNum)
       Throttle::potmax[1] = Param::GetInt(Param::pot2max);
       Throttle::brknom = Param::Get(Param::brknom);
       Throttle::brknompedal = Param::Get(Param::brknompedal);
-      Throttle::brkPedalRamp = Param::Get(Param::brkpedalramp);
+      Throttle::regenRamp = Param::Get(Param::regenramp);
       Throttle::brkmax = Param::Get(Param::brkmax);
       Throttle::throtmax = Param::Get(Param::throtmax);
       Throttle::idleSpeed = Param::GetInt(Param::idlespeed);
diff --git a/src/project/throttle.cpp b/src/project/throttle.cpp
index d1b7aa9..bb0612c 100644
--- a/src/project/throttle.cpp
+++ b/src/project/throttle.cpp
@@ -35,8 +35,7 @@ int Throttle::speedFiltered;
 s32fp Throttle::idleThrotLim;
 s32fp Throttle::potnomFiltered;
 s32fp Throttle::throtmax;
-s32fp Throttle::brkPedalRamp;
-s32fp Throttle::brkRamped;
+s32fp Throttle::regenRamp;
 s32fp Throttle::throttleRamp;
 s32fp Throttle::throttleRamped;
 int Throttle::bmslimhigh;
@@ -121,15 +120,20 @@ s32fp Throttle::CalcThrottle(int potval, int pot2val, bool brkpedal)
       }
    }
 
-   if (potnom > throttleRamped)
+   if (potnom >= throttleRamped)
    {
       throttleRamped = RAMPUP(throttleRamped, potnom, throttleRamp);
-      potnom = throttleRamped; // FP_MUL(throttleRamped, throtmax) / 100;
+      potnom = throttleRamped;
    }
-   else
+   else if (potnom < throttleRamped && potnom > 0)
+   {
+      throttleRamped = potnom; //No ramping from high throttle to low throttle
+   }
+   else //potnom < throttleRamped && potnom <= 0
    {
-      throttleRamped = RAMPDOWN(throttleRamped, potnom, throttleRamp);
-      potnom = throttleRamped; // FP_MUL(throttleRamped, throtmax) / 100;
+      throttleRamped = MIN(0, throttleRamped); //start ramping at 0
+      throttleRamped = RAMPDOWN(throttleRamped, potnom, regenRamp);
+      potnom = throttleRamped;
    }
 
    potnom = MIN(potnom, throtmax);