diff --git a/tools/odrive/tests/closed_loop_test.py b/tools/odrive/tests/closed_loop_test.py
index 31adce5d..a06f75e4 100644
--- a/tools/odrive/tests/closed_loop_test.py
+++ b/tools/odrive/tests/closed_loop_test.py
@@ -177,7 +177,7 @@ class TestRegenProtection(TestClosedLoopControlBase):
             max_current = 15.0
         
             # Accept a bit of noise on Ibus
-            axis_ctx.parent.handle.config.dc_max_negative_current = -0.2
+            axis_ctx.parent.handle.config.dc_max_negative_current = -0.5
 
             logger.debug(f'Brake control test from {nominal_rps} rounds/s...')
             
@@ -227,6 +227,7 @@ class TestVelLimitInTorqueControl(TestClosedLoopControlBase):
 
             axis_ctx.handle.controller.config.vel_gain /= 10 # reduce the slope to make it easier to see what's going on
             vel_gain = axis_ctx.handle.controller.config.vel_gain
+            direction = axis_ctx.handle.motor.config.direction
             logger.debug(f'vel gain is {vel_gain}')
 
             axis_ctx.handle.controller.config.vel_limit = max_vel
@@ -237,7 +238,7 @@ class TestVelLimitInTorqueControl(TestClosedLoopControlBase):
 
             # Returns the expected limited setpoint for a given velocity and current
             def get_expected_setpoint(input_setpoint, velocity):
-                return clamp(clamp(input_setpoint / torque_constant, (velocity + max_vel) * -vel_gain / torque_constant, (velocity - max_vel) * -vel_gain / torque_constant), -max_current, max_current)
+                return clamp(clamp(input_setpoint / torque_constant, (velocity + max_vel) * -vel_gain / torque_constant, (velocity - max_vel) * -vel_gain / torque_constant), -max_current, max_current) * direction
 
             def data_getter():
                 # sample velocity twice to avoid systematic bias
diff --git a/tools/odrive/tests/uart_ascii_test.py b/tools/odrive/tests/uart_ascii_test.py
index 6c650e28..ff5a41de 100644
--- a/tools/odrive/tests/uart_ascii_test.py
+++ b/tools/odrive/tests/uart_ascii_test.py
@@ -105,7 +105,7 @@ class TestUartAscii():
             ser.write(b'c 0 12.5\n')
             test_assert_eq(ser.readline(), b'')
             test_assert_eq(odrive.handle.axis0.controller.input_torque, 12.5, accuracy=0.001)
-            test_assert_eq(odrive.handle.axis0.controller.config.control_mode, CONTROL_MODE_CURRENT_CONTROL)
+            test_assert_eq(odrive.handle.axis0.controller.config.control_mode, CONTROL_MODE_TORQUE_CONTROL)
 
             odrive.handle.axis0.controller.input_vel = 0
             odrive.handle.axis0.controller.input_torque = 0
@@ -132,7 +132,7 @@ class TestUartAscii():
             test_assert_eq(ser.readline(), b'')
             test_assert_eq(odrive.handle.axis0.controller.input_pos, 123.4, accuracy=0.001)
             test_assert_eq(odrive.handle.axis0.controller.config.vel_limit, 567.8, accuracy=0.001)
-            test_assert_eq(odrive.handle.axis0.motor.config.current_lim, 12.5, accuracy=0.001)
+            test_assert_eq(odrive.handle.axis0.motor.config.torque_lim, 12.5, accuracy=0.001)
             test_assert_eq(odrive.handle.axis0.controller.config.control_mode, CONTROL_MODE_POSITION_CONTROL)
 
             ser.write(b'f 0\n')