diff --git a/src/controller.h b/src/controller.h
index a2cd0f4..3dde118 100644
--- a/src/controller.h
+++ b/src/controller.h
@@ -35,13 +35,14 @@ struct Controller {
 
 #ifdef VESC_CONTROLLER
 struct VescController {
-  VescController(HardwareSerial &serial, bool &enable) :
-        serial{serial}, enable{enable}
+  VescController(HardwareSerial &serial, bool &enable, bool &invert) :
+        serial{serial}, enable{enable}, invert{invert}
     {
     }
 
     std::reference_wrapper<HardwareSerial> serial;
     bool &enable;
+    bool &invert;
 
     bldcMeasure values;
 
diff --git a/src/displays/menus/settingsmenu.h b/src/displays/menus/settingsmenu.h
index d081184..34dab16 100644
--- a/src/displays/menus/settingsmenu.h
+++ b/src/displays/menus/settingsmenu.h
@@ -56,6 +56,7 @@ class SettingsMenu :
         makeComponent<MenuItem, StaticText<TEXT_BLUETOOTHSETTINGS>,             SwitchScreenAction<BluetoothSettingsMenu>, StaticMenuItemIcon<&icons::bluetooth>>,
 #ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_MODESSETTINGS>,                 SwitchScreenAction<ModesSettingsMenu>>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_CONTROLLERHARDWARESETTINGS>,    SwitchScreenAction<ControllerHardwareSettingsMenu>, StaticMenuItemIcon<&icons::hardware>>,
         makeComponent<MenuItem, StaticText<TEXT_BOARDCOMPUTERHARDWARESETTINGS>, SwitchScreenAction<BoardcomputerHardwareSettingsMenu>, StaticMenuItemIcon<&icons::hardware>>,
 #endif
diff --git a/src/globals.h b/src/globals.h
index 489b8cf..a24a4f2 100644
--- a/src/globals.h
+++ b/src/globals.h
@@ -35,8 +35,8 @@ Controller back{Serial2, settings.controllerHardware.enableBackLeft, settings.co
 #endif
 
 #ifdef VESC_CONTROLLER
-VescController one{Serial1, settings.controllerHardware.enableOne};
-VescController two{Serial2, settings.controllerHardware.enableTwo};
+VescController one{Serial1, settings.controllerHardware.enableOne, settings.controllerHardware.invertOne};
+VescController two{Serial2, settings.controllerHardware.enableTwo, settings.controllerHardware.invertTwo};
 #endif
 
 struct {
diff --git a/src/screens.h b/src/screens.h
index 53386c6..8a28a08 100644
--- a/src/screens.h
+++ b/src/screens.h
@@ -103,8 +103,8 @@ union X {
     FrontRightMotorFeedbackDebugMenu frontRightMotorFeedbackDebugMenu;
     BackLeftMotorFeedbackDebugMenu backLeftMotorFeedbackDebugMenu;
     BackRightMotorFeedbackDebugMenu backRightMotorFeedbackDebugMenu;
-    BoardcomputerHardwareSettingsMenu boardcomputerHardwareSettingsMenu;
 #endif
+    BoardcomputerHardwareSettingsMenu boardcomputerHardwareSettingsMenu;
     PresetsMenu presetsMenu;
 
 #ifdef GLUMP_CONTROLLER
@@ -232,8 +232,10 @@ template<> decltype(displays.bmsMenu)                                          &
 #endif
 #ifdef GLUMP_CONTROLLER
 template<> decltype(displays.buzzerMenu)                                       &getRefByType<decltype(displays.buzzerMenu)>()                                       { return displays.buzzerMenu; }
+#endif
 template<> decltype(displays.boardcomputerHardwareSettingsMenu)                &getRefByType<decltype(displays.boardcomputerHardwareSettingsMenu)>()                { return displays.boardcomputerHardwareSettingsMenu; }
 template<> decltype(displays.controllerHardwareSettingsMenu)                   &getRefByType<decltype(displays.controllerHardwareSettingsMenu)>()                   { return displays.controllerHardwareSettingsMenu; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.frontCommandDebugMenu)                            &getRefByType<decltype(displays.frontCommandDebugMenu)>()                            { return displays.frontCommandDebugMenu; }
 template<> decltype(displays.backCommandDebugMenu)                             &getRefByType<decltype(displays.backCommandDebugMenu)>()                             { return displays.backCommandDebugMenu; }
 #endif
diff --git a/src/utils.h b/src/utils.h
index 33ba5e8..e573df7 100644
--- a/src/utils.h
+++ b/src/utils.h
@@ -279,7 +279,7 @@ void sendCommands()
     SetSerialPort(&controller.serial.get());
     SetDebugSerialPort(NULL);
 
-    float current = mapfloat(controller.pwm, -1000, 1000, -settings.limits.iMotMax, settings.limits.iMotMax);
+    float current = mapfloat(controller.pwm * (controller.invert ? -1. : 1.), -1000, 1000, -settings.limits.iMotMax, settings.limits.iMotMax);
 
     Serial.println(String{"New current "} + current);