diff --git a/src/actions/modesettingsaction.h b/src/actions/modesettingsaction.h
new file mode 100644
index 0000000..df7d861
--- /dev/null
+++ b/src/actions/modesettingsaction.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include <HardwareSerial.h>
+
+#include "actioninterface.h"
+#include "globals.h"
+#include "modes/defaultmode.h"
+#include "modes/tempomatmode.h"
+#include "modes/larsmmode.h"
+#include "modes/gametrakmode.h"
+#include "displays/menus/defaultmodesettingsmenu.h"
+#include "displays/menus/tempomatmodesettingsmenu.h"
+#include "displays/menus/larsmmodesettingsmenu.h"
+#include "displays/menus/gametrakmodesettingsmenu.h"
+
+namespace {
+class ModeSettingsAction : public virtual ActionInterface
+{
+public:
+    void triggered() override;
+};
+
+void ModeSettingsAction::triggered()
+{
+    if (currentMode == &modes::defaultMode)
+        switchScreen<DefaultModeSettingsMenu>();
+    else if (currentMode == &modes::tempomatMode)
+        switchScreen<TempomatModeSettingsMenu>();
+    else if (currentMode == &modes::larsmMode)
+        switchScreen<LarsmModeSettingsMenu>();
+    else if (currentMode == &modes::gametrakMode)
+        switchScreen<GametrakModeSettingsMenu>();
+    else
+        Serial.println("Unknown mode, cannot open settings for it");
+}
+}
diff --git a/src/debugtexthelpers.h b/src/debugtexthelpers.h
index cdf0d2b..0a9d96c 100644
--- a/src/debugtexthelpers.h
+++ b/src/debugtexthelpers.h
@@ -16,37 +16,30 @@ struct ControllerTexts
     struct PoweroffText : public virtual TextInterface { public: String text() const override { return String{"poweroff: "} + toString(controller::get().command.poweroff); } };
     struct LedText : public virtual TextInterface { public: String text() const override { return String{"led: "} + toString(controller::get().command.led); } };
 
-    struct LeftCommand
-    {
-        LeftCommand() = delete;
-        ~LeftCommand() = delete;
+private:
+    struct LeftCommandGetter { static const MotorState &get() { return controller::get().command.left; } };
+    struct RightCommandGetter { static const MotorState &get() { return controller::get().command.right; } };
 
-        struct EnableText : public virtual TextInterface { public: String text() const override { return String{"enable: "} + toString(controller::get().command.left.enable); } };
-        struct PwmText : public virtual TextInterface { public: String text() const override { return String{"pwm: "} + toString(controller::get().command.left.pwm); } };
-        struct CtrlTypText : public virtual TextInterface { public: String text() const override { return String{"ctrlTyp: "} + toString(controller::get().command.left.ctrlTyp); } };
-        struct CtrlModText : public virtual TextInterface { public: String text() const override { return String{"ctrlMod: "} + toString(controller::get().command.left.ctrlMod); } };
-        struct IMotMaxText : public virtual TextInterface { public: String text() const override { return String{"iMotMax: "} + toString(controller::get().command.left.iMotMax); } };
-        struct IDcMaxText : public virtual TextInterface { public: String text() const override { return String{"iDcMax: "} + toString(controller::get().command.left.iDcMax); } };
-        struct NMotMaxText : public virtual TextInterface { public: String text() const override { return String{"nMotMax: "} + toString(controller::get().command.left.nMotMax); } };
-        struct FieldWeakMaxText : public virtual TextInterface { public: String text() const override { return String{"fieldWeakMax: "} + toString(controller::get().command.left.fieldWeakMax); } };
-        struct PhaseAdvMaxText : public virtual TextInterface { public: String text() const override { return String{"phaseAdvMax: "} + toString(controller::get().command.left.phaseAdvMax); } };
+    template<typename MotorStateGetter>
+    struct CommandTexts
+    {
+        CommandTexts() = delete;
+        ~CommandTexts() = delete;
+
+        struct EnableText : public virtual TextInterface { public: String text() const override { return String{"enable: "} + toString(MotorStateGetter::get().enable); } };
+        struct PwmText : public virtual TextInterface { public: String text() const override { return String{"pwm: "} + toString(MotorStateGetter::get().pwm); } };
+        struct CtrlTypText : public virtual TextInterface { public: String text() const override { return String{"ctrlTyp: "} + toString(MotorStateGetter::get().ctrlTyp); } };
+        struct CtrlModText : public virtual TextInterface { public: String text() const override { return String{"ctrlMod: "} + toString(MotorStateGetter::get().ctrlMod); } };
+        struct IMotMaxText : public virtual TextInterface { public: String text() const override { return String{"iMotMax: "} + toString(MotorStateGetter::get().iMotMax); } };
+        struct IDcMaxText : public virtual TextInterface { public: String text() const override { return String{"iDcMax: "} + toString(MotorStateGetter::get().iDcMax); } };
+        struct NMotMaxText : public virtual TextInterface { public: String text() const override { return String{"nMotMax: "} + toString(MotorStateGetter::get().nMotMax); } };
+        struct FieldWeakMaxText : public virtual TextInterface { public: String text() const override { return String{"fieldWeakMax: "} + toString(MotorStateGetter::get().fieldWeakMax); } };
+        struct PhaseAdvMaxText : public virtual TextInterface { public: String text() const override { return String{"phaseAdvMax: "} + toString(MotorStateGetter::get().phaseAdvMax); } };
     };
 
-    struct RightCommand
-    {
-        RightCommand() = delete;
-        ~RightCommand() = delete;
-
-        struct EnableText : public virtual TextInterface { public: String text() const override { return String{"enable: "} + toString(controller::get().command.right.enable); } };
-        struct PwmText : public virtual TextInterface { public: String text() const override { return String{"pwm: "} + toString(controller::get().command.right.pwm); } };
-        struct CtrlTypText : public virtual TextInterface { public: String text() const override { return String{"ctrlTyp: "} + toString(controller::get().command.right.ctrlTyp); } };
-        struct CtrlModText : public virtual TextInterface { public: String text() const override { return String{"ctrlMod: "} + toString(controller::get().command.right.ctrlMod); } };
-        struct IMotMaxText : public virtual TextInterface { public: String text() const override { return String{"iMotMax: "} + toString(controller::get().command.right.iMotMax); } };
-        struct IDcMaxText : public virtual TextInterface { public: String text() const override { return String{"iDcMax: "} + toString(controller::get().command.right.iDcMax); } };
-        struct NMotMaxText : public virtual TextInterface { public: String text() const override { return String{"nMotMax: "} + toString(controller::get().command.right.nMotMax); } };
-        struct FieldWeakMaxText : public virtual TextInterface { public: String text() const override { return String{"fieldWeakMax: "} + toString(controller::get().command.right.fieldWeakMax); } };
-        struct PhaseAdvMaxText : public virtual TextInterface { public: String text() const override { return String{"phaseAdvMax: "} + toString(controller::get().command.right.phaseAdvMax); } };
-    };
+public:
+    using LeftCommand = CommandTexts<LeftCommandGetter>;
+    using RightCommand = CommandTexts<LeftCommandGetter>;
 
     struct BatVoltageText : public virtual TextInterface { public: String text() const override { auto line = String{"batVoltage: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.batVoltage); return line; } };
     struct BatVoltageFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"batVoltage: "}; if (controller::get().feedbackValid) line += toString(fixBatVoltage(controller::get().feedback.batVoltage)) + 'V'; return line; } };
@@ -54,35 +47,29 @@ struct ControllerTexts
     struct BoardTempFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"boardTemp: "}; if (controller::get().feedbackValid) line += toString(fixBoardTemp(controller::get().feedback.boardTemp)) + 'C'; return line; } };
     struct TimeoutCntSerialText : public virtual TextInterface { public: String text() const override { auto line = String{"timeoutCntSerial: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.timeoutCntSerial); return line; } };
 
-    struct LeftFeedback
-    {
-        LeftFeedback() = delete;
-        ~LeftFeedback() = delete;
+private:
+    struct LeftFeedbackGetter { static const MotorFeedback &get() { return controller::get().feedback.left; } };
+    struct RightFeedbackGetter { static const MotorFeedback &get() { return controller::get().feedback.right; } };
 
-        struct AngleText : public virtual TextInterface { public: String text() const override { auto line = String{"angle: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.left.angle); return line; } };
-        struct SpeedText : public virtual TextInterface { public: String text() const override { auto line = String{"speed: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.left.speed); return line; } };
-        struct SpeedKmhText : public virtual TextInterface { public: String text() const override { auto line = String{"speed kmh: "}; if (controller::get().feedbackValid) line += toString(convertToKmh(controller::get().feedback.left.speed)); return line; } };
-        struct ErrorText : public virtual TextInterface { public: String text() const override { auto line = String{"error: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.left.error); return line; } };
-        struct CurrentText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.left.current); return line; } };
-        struct CurrentFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller::get().feedbackValid) line += toString(fixCurrent(controller::get().feedback.left.current)) + 'A'; return line; } };
-        struct ChopsText : public virtual TextInterface { public: String text() const override { auto line = String{"chops: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.left.chops); return line; } };
-        struct HallText : public virtual TextInterface { public: String text() const override { auto line = String{"hall: "}; if (controller::get().feedbackValid) line += hallString(controller::get().feedback.left); return line; } };
+    template<typename MotorFeedbackGetter>
+    struct FeedbackTexts
+    {
+        FeedbackTexts() = delete;
+        ~FeedbackTexts() = delete;
+
+        struct AngleText : public virtual TextInterface { public: String text() const override { auto line = String{"angle: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().angle); return line; } };
+        struct SpeedText : public virtual TextInterface { public: String text() const override { auto line = String{"speed: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().speed); return line; } };
+        struct SpeedKmhText : public virtual TextInterface { public: String text() const override { auto line = String{"speed kmh: "}; if (controller::get().feedbackValid) line += toString(convertToKmh(MotorFeedbackGetter::get().speed)); return line; } };
+        struct ErrorText : public virtual TextInterface { public: String text() const override { auto line = String{"error: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().error); return line; } };
+        struct CurrentText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().current); return line; } };
+        struct CurrentFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller::get().feedbackValid) line += toString(fixCurrent(MotorFeedbackGetter::get().current)) + 'A'; return line; } };
+        struct ChopsText : public virtual TextInterface { public: String text() const override { auto line = String{"chops: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().chops); return line; } };
+        struct HallText : public virtual TextInterface { public: String text() const override { auto line = String{"hall: "}; if (controller::get().feedbackValid) line += hallString(MotorFeedbackGetter::get()); return line; } };
     };
 
-    struct RightFeedback
-    {
-        RightFeedback() = delete;
-        ~RightFeedback() = delete;
-
-        struct AngleText : public virtual TextInterface { public: String text() const override { auto line = String{"angle: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.right.angle); return line; } };
-        struct SpeedText : public virtual TextInterface { public: String text() const override { auto line = String{"speed: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.right.speed); return line; } };
-        struct SpeedKmhText : public virtual TextInterface { public: String text() const override { auto line = String{"speed kmh: "}; if (controller::get().feedbackValid) line += toString(convertToKmh(controller::get().feedback.right.speed)); return line; } };
-        struct ErrorText : public virtual TextInterface { public: String text() const override { auto line = String{"error: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.right.error); return line; } };
-        struct CurrentText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.right.current); return line; } };
-        struct CurrentFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller::get().feedbackValid) line += toString(fixCurrent(controller::get().feedback.right.current)) + 'A'; return line; } };
-        struct ChopsText : public virtual TextInterface { public: String text() const override { auto line = String{"chops: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.right.chops); return line; } };
-        struct HallText : public virtual TextInterface { public: String text() const override { auto line = String{"hall: "}; if (controller::get().feedbackValid) line += hallString(controller::get().feedback.right); return line; } };
-    };
+public:
+    using LeftFeedback = FeedbackTexts<LeftFeedbackGetter>;
+    using RightFeedback = FeedbackTexts<RightFeedbackGetter>;
 };
 
 using FrontTexts = ControllerTexts<FrontControllerGetter>;
diff --git a/src/displays/menus/mainmenu.h b/src/displays/menus/mainmenu.h
index 753184f..e1374ef 100644
--- a/src/displays/menus/mainmenu.h
+++ b/src/displays/menus/mainmenu.h
@@ -4,6 +4,7 @@
 #include "staticmenudefinition.h"
 #include "menuitem.h"
 #include "actions/switchscreenaction.h"
+#include "actions/modesettingsaction.h"
 #include "actions/rebootaction.h"
 #include "texts.h"
 #include "icons/back.h"
@@ -37,22 +38,23 @@ class MainMenu :
     public StaticText<TEXT_MAINMENU>,
     public BackActionInterface<SwitchScreenAction<StatusDisplay>>,
     public StaticMenuDefinition<
-        makeComponent<MenuItem, StaticText<TEXT_STATUS>,      SwitchScreenAction<StatusDisplay>, StaticMenuItemIcon<&icons::back>>,
-        makeComponent<MenuItem, StaticText<TEXT_SELECTMODE>,  SwitchScreenAction<SelectModeMenu>, StaticMenuItemIcon<&icons::modes>>,
-        makeComponent<MenuItem, StaticText<TEXT_PRESETS>,     SwitchScreenAction<PresetsMenu>, StaticMenuItemIcon<&icons::presets>>,
-        makeComponent<MenuItem, StaticText<TEXT_GRAPHS>,      SwitchScreenAction<GraphsMenu>, StaticMenuItemIcon<&icons::graph>>,
+        makeComponent<MenuItem, StaticText<TEXT_STATUS>,       SwitchScreenAction<StatusDisplay>, StaticMenuItemIcon<&icons::back>>,
+        makeComponent<MenuItem, StaticText<TEXT_SELECTMODE>,   SwitchScreenAction<SelectModeMenu>, StaticMenuItemIcon<&icons::modes>>,
+        makeComponent<MenuItem, StaticText<TEXT_MODESETTINGS>, ModeSettingsAction>,
+        makeComponent<MenuItem, StaticText<TEXT_PRESETS>,      SwitchScreenAction<PresetsMenu>, StaticMenuItemIcon<&icons::presets>>,
+        makeComponent<MenuItem, StaticText<TEXT_GRAPHS>,       SwitchScreenAction<GraphsMenu>, StaticMenuItemIcon<&icons::graph>>,
 #ifdef FEATURE_BMS
-        makeComponent<MenuItem, StaticText<TEXT_BMS>,         SwitchScreenAction<BmsMenu>, StaticMenuItemIcon<&icons::bms>>,
+        makeComponent<MenuItem, StaticText<TEXT_BMS>,          SwitchScreenAction<BmsMenu>, StaticMenuItemIcon<&icons::bms>>,
 #endif
-        makeComponent<MenuItem, StaticText<TEXT_SETTINGS>,    SwitchScreenAction<SettingsMenu>, StaticMenuItemIcon<&icons::settings>>,
-        makeComponent<MenuItem, StaticText<TEXT_LOCKVEHICLE>, SwitchScreenAction<Lockscreen>, StaticMenuItemIcon<&icons::lock>>,
+        makeComponent<MenuItem, StaticText<TEXT_SETTINGS>,     SwitchScreenAction<SettingsMenu>, StaticMenuItemIcon<&icons::settings>>,
+        makeComponent<MenuItem, StaticText<TEXT_LOCKVEHICLE>,  SwitchScreenAction<Lockscreen>, StaticMenuItemIcon<&icons::lock>>,
 #ifdef FEATURE_MOSFETS
-        makeComponent<MenuItem, StaticText<TEXT_MOSFETS>,     SwitchScreenAction<MosfetsMenu>, StaticMenuItemIcon<&icons::lock>>, // TODO icon
+        makeComponent<MenuItem, StaticText<TEXT_MOSFETS>,      SwitchScreenAction<MosfetsMenu>>,
 #endif
-        makeComponent<MenuItem, StaticText<TEXT_DEMOS>,       SwitchScreenAction<DemosMenu>, StaticMenuItemIcon<&icons::demos>>,
-        makeComponent<MenuItem, StaticText<TEXT_POWEROFF>,    SwitchScreenAction<PoweroffDisplay>, StaticMenuItemIcon<&icons::poweroff>>,
-        makeComponent<MenuItem, StaticText<TEXT_REBOOT>,      RebootAction, StaticMenuItemIcon<&icons::reboot>>,
-        makeComponent<MenuItem, StaticText<TEXT_DEBUG>,       SwitchScreenAction<DebugMenu>>
+        makeComponent<MenuItem, StaticText<TEXT_DEMOS>,        SwitchScreenAction<DemosMenu>, StaticMenuItemIcon<&icons::demos>>,
+        makeComponent<MenuItem, StaticText<TEXT_POWEROFF>,     SwitchScreenAction<PoweroffDisplay>, StaticMenuItemIcon<&icons::poweroff>>,
+        makeComponent<MenuItem, StaticText<TEXT_REBOOT>,       RebootAction, StaticMenuItemIcon<&icons::reboot>>,
+        makeComponent<MenuItem, StaticText<TEXT_DEBUG>,        SwitchScreenAction<DebugMenu>>
     >
 {};
 };
diff --git a/src/feedbackparser.h b/src/feedbackparser.h
index b9a979a..037958e 100644
--- a/src/feedbackparser.h
+++ b/src/feedbackparser.h
@@ -24,7 +24,7 @@ public:
         while (m_serial.get().available())
         {
             m_incomingByte    = m_serial.get().read();                                // Read the incoming byte
-            m_bufStartFrame = ((uint16_t)(m_incomingBytePrev) << 8) +  m_incomingByte; // Construct the start frame
+            m_bufStartFrame = ((uint16_t)(m_incomingBytePrev) << 8) + m_incomingByte; // Construct the start frame
 
             //Serial.printf("received: %x\r\n", m_incomingByte);
 
diff --git a/src/globals.h b/src/globals.h
index 50fd733..3cba3d0 100644
--- a/src/globals.h
+++ b/src/globals.h
@@ -37,19 +37,14 @@ public:
         std::array<Controller, 2>{{
             Controller{Serial1, settings.controllerHardware.enableFrontLeft, settings.controllerHardware.enableFrontRight, settings.controllerHardware.invertFrontLeft, settings.controllerHardware.invertFrontRight},
             Controller{Serial2, settings.controllerHardware.enableBackLeft, settings.controllerHardware.enableBackRight, settings.controllerHardware.invertBackLeft, settings.controllerHardware.invertBackRight}
-        }},
-        front{getFront()},
-        back(getBack())
+        }}
     {}
+
     Controllers(const Controllers &) = delete;
     Controllers &operator=(const Controllers &) = delete;
 
-    Controller &front;
-    Controller &back;
-
-private:
-    Controller &getFront() { return operator[](0); }
-    Controller &getBack() { return operator[](1); }
+    Controller &front{operator[](0)};
+    Controller &back{operator[](1)};
 };
 
 Controllers controllers;
diff --git a/src/modes/defaultmode.h b/src/modes/defaultmode.h
index 99ab987..a6cca51 100644
--- a/src/modes/defaultmode.h
+++ b/src/modes/defaultmode.h
@@ -38,7 +38,6 @@ void DefaultMode::update()
         else
             gas = 0;
     }
-    const auto gas_squared = (gas * gas) / 1000;
 
     if (waitForBremsLoslass)
     {
@@ -47,6 +46,8 @@ void DefaultMode::update()
         else
             brems = 0;
     }
+
+    const auto gas_squared = (gas * gas) / 1000;
     const auto brems_squared = (brems * brems) / 1000;
 
     const auto now = millis();
diff --git a/src/texts.h b/src/texts.h
index f62ea92..8f5a3f4 100644
--- a/src/texts.h
+++ b/src/texts.h
@@ -54,6 +54,7 @@ constexpr char TEXT_BACKRIGHTFEEDBACK[] = "Back right feedback";
 constexpr char TEXT_MAINMENU[] = "Main menu";
 constexpr char TEXT_STATUS[] = "Status";
 constexpr char TEXT_SELECTMODE[] = "Select mode";
+constexpr char TEXT_MODESETTINGS[] = "Mode settings";
 constexpr char TEXT_PRESETS[] = "Presets";
 constexpr char TEXT_GRAPHS[] = "Graphs";
 //constexpr char TEXT_BMS[] = "BMS";