diff --git a/Inc/config.h b/Inc/config.h
index 1788f66..584d5a8 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -2,8 +2,8 @@
 #include "stm32f1xx_hal.h"
 
 //Select the calibration values for the different pcbs
-//#define BOBBYCAR_PCB_FRONT //Green PCB. black programming cable. outer power button
-#define BOBBYCAR_PCB_REAR //Blue PCB. with XT60-U, beige programming cable. inner power button
+#define BOBBYCAR_PCB_FRONT //Green PCB. black programming cable. outer power button
+//#define BOBBYCAR_PCB_REAR //Blue PCB. with XT60-U, beige programming cable. inner power button
 //#define HOVERBRETT //Green PCB in Hoverbrett
 
 // ############################### DO-NOT-TOUCH SETTINGS ###############################
@@ -206,10 +206,10 @@
 #define CTRL_TYP_SEL    2                       // [-] Control type selection: 0 = Commutation , 1 = Sinusoidal, 2 = FOC Field Oriented Control (default)
 //#define CTRL_MOD_REQ    3                       // [-] Control mode request: 0 = Open mode, 1 = VOLTAGE mode (default), 2 = SPEED mode, 3 = TORQUE mode. Note: SPEED and TORQUE modes are only available for FOC!
 #ifdef BOBBYCAR_PCB_FRONT
-  #define CTRL_MOD_REQ    3 //torque
+  #define CTRL_MOD_REQ    1 //voltage (torque mode had some quirks)
 #endif
 #ifdef BOBBYCAR_PCB_REAR
-  #define CTRL_MOD_REQ    3 //torque
+  #define CTRL_MOD_REQ    1 //voltage (torque mode had some quirks)
 #endif
 #ifdef HOVERBRETT
   #define CTRL_MOD_REQ    1 //voltage