diff --git a/FS-AI_API/fs-ai_api.c b/FS-AI_API/fs-ai_api.c
index 4062624..baffb49 100644
--- a/FS-AI_API/fs-ai_api.c
+++ b/FS-AI_API/fs-ai_api.c
@@ -712,9 +712,16 @@ void fs_ai_api_ai2vcu_set_data(fs_ai_api_ai2vcu *data) {
 	float							t_AI2VCU_FRONT_BRAKE_PRESS_REQUEST_pct = 0;
 	float							t_AI2VCU_REAR_BRAKE_PRESS_REQUEST_pct = 0;
 
-	float t_FRONT_AXLE_TORQUE_MAX = (0.1f*VCU2AI_FRONT_AXLE_TORQUE_MAX_raw);
-	float t_REAR_AXLE_TORQUE_MAX = (0.1f*VCU2AI_REAR_AXLE_TORQUE_MAX_raw);
-	float t_STEER_ANGLE_MAX = (0.1f*VCU2AI_STEER_ANGLE_MAX_raw);
+	float t_FRONT_AXLE_TORQUE_MAX_Nm = (0.1f*VCU2AI_FRONT_AXLE_TORQUE_MAX_raw);
+	float t_REAR_AXLE_TORQUE_MAX_Nm = (0.1f*VCU2AI_REAR_AXLE_TORQUE_MAX_raw);
+	float t_STEER_ANGLE_MAX_deg = (0.1f*VCU2AI_STEER_ANGLE_MAX_raw);
+
+	uint16_t t_fastest_wheel_rpm = 0;
+
+	if(VCU2AI_FL_WHEEL_SPEED_rpm > t_fastest_wheel_rpm) { t_fastest_wheel_rpm = VCU2AI_FL_WHEEL_SPEED_rpm; }
+	if(VCU2AI_FR_WHEEL_SPEED_rpm > t_fastest_wheel_rpm) { t_fastest_wheel_rpm = VCU2AI_FR_WHEEL_SPEED_rpm; }
+	if(VCU2AI_RL_WHEEL_SPEED_rpm > t_fastest_wheel_rpm) { t_fastest_wheel_rpm = VCU2AI_RL_WHEEL_SPEED_rpm; }
+	if(VCU2AI_RR_WHEEL_SPEED_rpm > t_fastest_wheel_rpm) { t_fastest_wheel_rpm = VCU2AI_RR_WHEEL_SPEED_rpm; }
 
 	t_AI2VCU_MISSION_STATUS = data->AI2VCU_MISSION_STATUS;
 	t_AI2VCU_DIRECTION_REQUEST = data->AI2VCU_DIRECTION_REQUEST;
@@ -728,9 +735,27 @@ void fs_ai_api_ai2vcu_set_data(fs_ai_api_ai2vcu *data) {
 	t_AI2VCU_FRONT_BRAKE_PRESS_REQUEST_pct = data->AI2VCU_BRAKE_PRESS_REQUEST_pct;
 	t_AI2VCU_REAR_BRAKE_PRESS_REQUEST_pct = data->AI2VCU_BRAKE_PRESS_REQUEST_pct;
 
+	// additional torque limit to maintain constant electrical power and minimise risk of over-current trip
+	if(t_fastest_wheel_rpm > 700) {
+		if(t_FRONT_AXLE_TORQUE_MAX_Nm > 50.0f) { t_FRONT_AXLE_TORQUE_MAX_Nm = 50.0f; }
+		if(t_REAR_AXLE_TORQUE_MAX_Nm > 50.0f) { t_REAR_AXLE_TORQUE_MAX_Nm = 50.0f; }
+	} else if(t_fastest_wheel_rpm > 600) {
+		if(t_FRONT_AXLE_TORQUE_MAX_Nm > 85.0f) { t_FRONT_AXLE_TORQUE_MAX_Nm = 85.0f; }
+		if(t_REAR_AXLE_TORQUE_MAX_Nm > 85.0f) { t_REAR_AXLE_TORQUE_MAX_Nm = 85.0f; }
+	} else if(t_fastest_wheel_rpm > 500) {
+		if(t_FRONT_AXLE_TORQUE_MAX_Nm > 100.0f) { t_FRONT_AXLE_TORQUE_MAX_Nm = 100.0f; }
+		if(t_REAR_AXLE_TORQUE_MAX_Nm > 100.0f) { t_REAR_AXLE_TORQUE_MAX_Nm = 100.0f; }
+	} else if(t_fastest_wheel_rpm > 400) {
+		if(t_FRONT_AXLE_TORQUE_MAX_Nm > 120.0f) { t_FRONT_AXLE_TORQUE_MAX_Nm = 120.0f; }
+		if(t_REAR_AXLE_TORQUE_MAX_Nm > 120.0f) { t_REAR_AXLE_TORQUE_MAX_Nm = 120.0f; }
+	} else if(t_fastest_wheel_rpm > 300) {
+		if(t_FRONT_AXLE_TORQUE_MAX_Nm > 150.0f) { t_FRONT_AXLE_TORQUE_MAX_Nm = 150.0f; }
+		if(t_REAR_AXLE_TORQUE_MAX_Nm > 150.0f) { t_REAR_AXLE_TORQUE_MAX_Nm = 150.0f; }
+	}
+
 	// validate the 'float' requests
-	if(t_AI2VCU_STEER_ANGLE_REQUEST_deg > t_STEER_ANGLE_MAX) { t_AI2VCU_STEER_ANGLE_REQUEST_deg = t_STEER_ANGLE_MAX; }
-	if(t_AI2VCU_STEER_ANGLE_REQUEST_deg < (-1.0f*t_STEER_ANGLE_MAX)) { t_AI2VCU_STEER_ANGLE_REQUEST_deg = (-1.0f*t_STEER_ANGLE_MAX); }
+	if(t_AI2VCU_STEER_ANGLE_REQUEST_deg > t_STEER_ANGLE_MAX_deg) { t_AI2VCU_STEER_ANGLE_REQUEST_deg = t_STEER_ANGLE_MAX_deg; }
+	if(t_AI2VCU_STEER_ANGLE_REQUEST_deg < (-1.0f*t_STEER_ANGLE_MAX_deg)) { t_AI2VCU_STEER_ANGLE_REQUEST_deg = (-1.0f*t_STEER_ANGLE_MAX_deg); }
 
 	if(t_AI2VCU_FRONT_MOTOR_SPEED_REQUEST_rpm > MOTOR_MAX_RPM) { t_AI2VCU_FRONT_MOTOR_SPEED_REQUEST_rpm = MOTOR_MAX_RPM; }
 	if(t_AI2VCU_FRONT_MOTOR_SPEED_REQUEST_rpm < 0.0f) { t_AI2VCU_FRONT_MOTOR_SPEED_REQUEST_rpm = 0.0f; }
@@ -738,10 +763,10 @@ void fs_ai_api_ai2vcu_set_data(fs_ai_api_ai2vcu *data) {
 	if(t_AI2VCU_REAR_MOTOR_SPEED_REQUEST_rpm > MOTOR_MAX_RPM) { t_AI2VCU_REAR_MOTOR_SPEED_REQUEST_rpm = MOTOR_MAX_RPM; }
 	if(t_AI2VCU_REAR_MOTOR_SPEED_REQUEST_rpm < 0.0f) { t_AI2VCU_REAR_MOTOR_SPEED_REQUEST_rpm = 0.0f; }
 
-	if(t_AI2VCU_FRONT_AXLE_TORQUE_REQUEST_Nm > t_FRONT_AXLE_TORQUE_MAX) { t_AI2VCU_FRONT_AXLE_TORQUE_REQUEST_Nm = t_FRONT_AXLE_TORQUE_MAX; }
+	if(t_AI2VCU_FRONT_AXLE_TORQUE_REQUEST_Nm > t_FRONT_AXLE_TORQUE_MAX_Nm) { t_AI2VCU_FRONT_AXLE_TORQUE_REQUEST_Nm = t_FRONT_AXLE_TORQUE_MAX_Nm; }
 	if(t_AI2VCU_FRONT_AXLE_TORQUE_REQUEST_Nm < 0.0f) { t_AI2VCU_FRONT_AXLE_TORQUE_REQUEST_Nm = 0.0f; }
 
-	if(t_AI2VCU_REAR_AXLE_TORQUE_REQUEST_Nm > t_REAR_AXLE_TORQUE_MAX) { t_AI2VCU_REAR_AXLE_TORQUE_REQUEST_Nm = t_REAR_AXLE_TORQUE_MAX; }
+	if(t_AI2VCU_REAR_AXLE_TORQUE_REQUEST_Nm > t_REAR_AXLE_TORQUE_MAX_Nm) { t_AI2VCU_REAR_AXLE_TORQUE_REQUEST_Nm = t_REAR_AXLE_TORQUE_MAX_Nm; }
 	if(t_AI2VCU_REAR_AXLE_TORQUE_REQUEST_Nm < 0.0f) { t_AI2VCU_REAR_AXLE_TORQUE_REQUEST_Nm = 0.0f; }
 
 	if(t_AI2VCU_FRONT_BRAKE_PRESS_REQUEST_pct > 100.0f) { t_AI2VCU_FRONT_BRAKE_PRESS_REQUEST_pct = 100.0f; }
diff --git a/FS-AI_API_Console/fs-ai_api_console.c b/FS-AI_API_Console/fs-ai_api_console.c
index 0bd5726..63886fb 100644
--- a/FS-AI_API_Console/fs-ai_api_console.c
+++ b/FS-AI_API_Console/fs-ai_api_console.c
@@ -46,7 +46,7 @@ static void *loop_thread();
 static fs_ai_api_ai2vcu ai2vcu_data;	// assume initialised to zeros
 static char inputs[10] = "", outputs[80] = "                                        ";
 static int data = 0;
-static int timing_us = 5000;
+static int timing_us = 10000;
 
 
 int main(int argc, char** argv) {
@@ -154,8 +154,6 @@ static void *loop_thread() {
 		printf("                                         \r\n");
 		printf("%s                                       \r\n",outputs);
 
-		// printf("\033[27A");  // move cursor back up
-
 		// send some data
 		if(HANDSHAKE_RECEIVE_BIT_OFF == vcu2ai_data.VCU2AI_HANDSHAKE_RECEIVE_BIT) {
 			ai2vcu_data.AI2VCU_HANDSHAKE_SEND_BIT = HANDSHAKE_SEND_BIT_OFF;
@@ -167,7 +165,7 @@ static void *loop_thread() {
 
 		fs_ai_api_ai2vcu_set_data(&ai2vcu_data);
 
-		// repeat roughly every 5ms
+		// repeat according to loop timing (default roughly every 10ms)
 		usleep(timing_us);
 	}
 
diff --git a/FS-AI_API_Tester/fs-ai_api_tester.c b/FS-AI_API_Tester/fs-ai_api_tester.c
index 2db4980..8f392c4 100644
--- a/FS-AI_API_Tester/fs-ai_api_tester.c
+++ b/FS-AI_API_Tester/fs-ai_api_tester.c
@@ -78,8 +78,8 @@ int main(int argc, char** argv) {
 		printf("VCU2AI_FR_PULSE_COUNT          %5u    \r\n",vcu2ai_data.VCU2AI_FR_PULSE_COUNT);
 		printf("VCU2AI_RL_PULSE_COUNT          %5u    \r\n",vcu2ai_data.VCU2AI_RL_PULSE_COUNT);
 		printf("VCU2AI_RR_PULSE_COUNT          %5u    \r\n",vcu2ai_data.VCU2AI_RR_PULSE_COUNT);
-												
-		// printf("\033[21A");  // move cursor back up
+
+		// TODO: add GPS & IMU data
 
 		// send some data
 		if(HANDSHAKE_RECEIVE_BIT_OFF == vcu2ai_data.VCU2AI_HANDSHAKE_RECEIVE_BIT) {
@@ -90,9 +90,9 @@ int main(int argc, char** argv) {
 			printf("HANDSHAKE_BIT error\r\n");
 		}
 
+		ai2vcu_data.AI2VCU_MISSION_STATUS = MISSION_SELECTED;
 		ai2vcu_data.AI2VCU_DIRECTION_REQUEST = DIRECTION_FORWARD;
 		ai2vcu_data.AI2VCU_ESTOP_REQUEST = ESTOP_NO;
-		ai2vcu_data.AI2VCU_MISSION_STATUS = MISSION_SELECTED;
 		ai2vcu_data.AI2VCU_STEER_ANGLE_REQUEST_deg = 9.9f;
 		ai2vcu_data.AI2VCU_AXLE_SPEED_REQUEST_rpm = 999.0f;
 		ai2vcu_data.AI2VCU_AXLE_TORQUE_REQUEST_Nm = 99.0f;
@@ -100,8 +100,8 @@ int main(int argc, char** argv) {
 
 		fs_ai_api_ai2vcu_set_data(&ai2vcu_data);
 
-		// repeat roughly every 5ms
-		usleep(5000);
+		// repeat roughly every 10ms
+		usleep(10000);
 	}
 
 	return(0);