diff --git a/shared/comps/dq_sp.c b/shared/comps/dq_sp.c
index 43c969f7..d2a1a082 100644
--- a/shared/comps/dq_sp.c
+++ b/shared/comps/dq_sp.c
@@ -23,7 +23,7 @@ HAL_PIN(q);
 
 static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   // struct dq_ctx_t * ctx = (struct dq_ctx_t *)ctx_ptr;
-  struct dq_pin_ctx_t *pins = (struct dq_pin_ctx_t *)pin_ptr;
+  struct dq_sp_pin_ctx_t *pins = (struct dq_sp_pin_ctx_t *)pin_ptr;
 
   //clarke transformation
   float a = PIN(a);
@@ -44,7 +44,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   PIN(q) = q;
 }
 
-hal_comp_t dq_comp_struct = {
+hal_comp_t dq_sp_comp_struct = {
     .name      = "dq_sp",
     .nrt       = 0,
     .rt        = rt_func,
@@ -55,5 +55,5 @@ hal_comp_t dq_comp_struct = {
     .rt_stop   = 0,
     .frt_stop  = 0,
     .ctx_size  = 0,
-    .pin_count = sizeof(struct dq_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+    .pin_count = sizeof(struct dq_sp_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
 };
diff --git a/stmsp/stm32f303/Makefile b/stmsp/stm32f303/Makefile
index 7c774926..c32d2977 100644
--- a/stmsp/stm32f303/Makefile
+++ b/stmsp/stm32f303/Makefile
@@ -38,7 +38,7 @@ COMPS += shared/comps/sim.c
 COMPS += shared/comps/term.c
 COMPS += shared/comps/curpid.c
 COMPS += shared/comps/svm.c
-COMPS += shared/comps/dq.c
+COMPS += shared/comps/dq_sp.c
 COMPS += shared/comps/idq.c
 COMPS += shared/comps/pole.c
 COMPS += shared/comps/map.c
diff --git a/stmsp/stm32f303/inc/hal_tbl.h b/stmsp/stm32f303/inc/hal_tbl.h
index d5d99b00..b74b74cd 100644
--- a/stmsp/stm32f303/inc/hal_tbl.h
+++ b/stmsp/stm32f303/inc/hal_tbl.h
@@ -126,18 +126,14 @@ struct svm_pin_ctx_t{ // found in shared/comps/svm.c
    hal_pin_inst_t enw;
 };
 
-struct dq_pin_ctx_t{ // found in shared/comps/dq.c
+struct dq_sp_pin_ctx_t{ // found in shared/comps/dq_sp.c
    hal_pin_inst_t rt_prio;
    hal_pin_inst_t frt_prio;
    hal_pin_inst_t mode;
-   hal_pin_inst_t u;
-   hal_pin_inst_t v;
-   hal_pin_inst_t w;
    hal_pin_inst_t pos;
    hal_pin_inst_t polecount;
    hal_pin_inst_t a;
    hal_pin_inst_t b;
-   hal_pin_inst_t y;
    hal_pin_inst_t d;
    hal_pin_inst_t q;
 };
@@ -261,7 +257,7 @@ extern const hal_comp_t sim_comp_struct; // found in shared/comps/sim.c
 extern const hal_comp_t term_comp_struct; // found in shared/comps/term.c
 extern const hal_comp_t curpid_comp_struct; // found in shared/comps/curpid.c
 extern const hal_comp_t svm_comp_struct; // found in shared/comps/svm.c
-extern const hal_comp_t dq_comp_struct; // found in shared/comps/dq.c
+extern const hal_comp_t dq_sp_comp_struct; // found in shared/comps/dq_sp.c
 extern const hal_comp_t idq_comp_struct; // found in shared/comps/idq.c
 extern const hal_comp_t pole_comp_struct; // found in shared/comps/pole.c
 extern const hal_comp_t map_comp_struct; // found in shared/comps/map.c
diff --git a/stmsp/stm32f303/src/hal_tbl.c b/stmsp/stm32f303/src/hal_tbl.c
index c120d2e6..8dcf5d08 100644
--- a/stmsp/stm32f303/src/hal_tbl.c
+++ b/stmsp/stm32f303/src/hal_tbl.c
@@ -9,7 +9,7 @@ const hal_comp_t * comps[] = {
    &term_comp_struct, // found in shared/comps/term.c
    &curpid_comp_struct, // found in shared/comps/curpid.c
    &svm_comp_struct, // found in shared/comps/svm.c
-   &dq_comp_struct, // found in shared/comps/dq.c
+   &dq_sp_comp_struct, // found in shared/comps/dq_sp.c
    &idq_comp_struct, // found in shared/comps/idq.c
    &pole_comp_struct, // found in shared/comps/pole.c
    &map_comp_struct, // found in shared/comps/map.c
@@ -148,18 +148,14 @@ const pin_t pins[] = {
    "enu",
    "env",
    "enw",
-   // pins for comp dq found in shared/comps/dq.c
+   // pins for comp dq_sp found in shared/comps/dq_sp.c
    "rt_prio",
    "frt_prio",
    "mode",
-   "u",
-   "v",
-   "w",
    "pos",
    "polecount",
    "a",
    "b",
-   "y",
    "d",
    "q",
    // pins for comp idq found in shared/comps/idq.c
diff --git a/stmsp/stm32f303/src/setup.c b/stmsp/stm32f303/src/setup.c
index e4447b36..4c844319 100644
--- a/stmsp/stm32f303/src/setup.c
+++ b/stmsp/stm32f303/src/setup.c
@@ -191,7 +191,7 @@ void hal_setup(){
   hal_parse("load curpid");
 
   hal_parse("io0.rt_prio = 1.0");  
-  hal_parse("sim0.rt_prio = 2.0");  
+  hal_parse("sim0.rt_prio = 10.0");  
   hal_parse("tle0.rt_prio = 2.0");
   hal_parse("map0.rt_prio = 3.0");
   hal_parse("vel0.rt_prio = 4.0");
@@ -206,7 +206,6 @@ void hal_setup(){
   hal_parse("hv0.rt_prio = 9.0");
   
   hal_parse("term0.rt_prio = 10");
-  // hal_parse("sim0.rt_prio = 10.0");
 
   hal_parse("term0.send_step = 10.0");
   hal_parse("term0.gain0 = 20.0");
@@ -235,15 +234,15 @@ void hal_setup(){
   hal_parse("curpid0.ld = 0.0038");
   hal_parse("curpid0.lq = 0.0038");
   hal_parse("curpid0.psi = 0.005");
-  hal_parse("curpid0.kp = 1.0");
-  hal_parse("curpid0.ki = 0.0005");
+  hal_parse("curpid0.kp = 0.5");
+  hal_parse("curpid0.ki = 0.001");
   hal_parse("curpid0.ff = 1");
   hal_parse("curpid0.kind = 0");
   hal_parse("curpid0.max_cur = 3.1");
   hal_parse("curpid0.pwm_volt = io0.dc_link");
 
   hal_parse("pole0.p = 50.0");
-  // hal_parse("io0.led = term0.con");
+  hal_parse("io0.led = term0.con");
 
   hal_parse("dq_sp0.pos = pole0.cpos");
   hal_parse("idq0.pos = pole0.cpos");