diff --git a/quad/src/quad_app/send_actuator_commands.c b/quad/src/quad_app/send_actuator_commands.c
index efc4e44f7e29a03a799655b75f0d6cc9c59aacd4..c361e74db2146e44b80881fec18dde14efef44d3 100644
--- a/quad/src/quad_app/send_actuator_commands.c
+++ b/quad/src/quad_app/send_actuator_commands.c
@@ -11,6 +11,7 @@
 int send_actuator_commands(struct PWMOutputDriver *pwm_outputs, log_t* log_struct, actuator_command_t* actuator_command_struct) {
   int i;
   // write the PWMs to the motors
+
   for (i = 0; i < 4; i++) {
     pwm_outputs->write(pwm_outputs, i, actuator_command_struct->pwms[i]);
   }
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_pwm_output.c b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_pwm_output.c
index 3d1b6e19c626b3e0b4428afe4bd8db5a7e0c1d00..3dd09e54379432529a3ce05614dedf648dffb3e2 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_pwm_output.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_pwm_output.c
@@ -1,8 +1,10 @@
 #include "hw_impl_zybo.h"
 
-#define THROTTLE_PULSE_WIDTH_LOW 100000 // 1us
-#define THROTTLE_PULSE_WIDTH_HIGH 200000 // 2us
-#define PERIOD_WIDTH 222222 // 100000000 ns / 450
+#define SYS_CLOCK_RATE 100000000 // ticks per second
+#define FREQUENCY 450
+#define PERIOD_WIDTH SYS_CLOCK_RATE/FREQUENCY
+#define THROTTLE_PULSE_WIDTH_LOW SYS_CLOCK_RATE/1000 // 1 ms
+#define THROTTLE_PULSE_WIDTH_HIGH SYS_CLOCK_RATE/500 // 2 ms
 #define PULSE_WIDTH_ADDR_OFFSET 1
 
 struct PWMOutputDriverState {
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
index 530c5afe0f81a30aba768b783080107cd86bae76..cf36cb0afeab045c36d06747b7c9d95c716962cc 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
@@ -117,17 +117,14 @@ int test_zybo_pwm_outputs() {
   struct SystemDriver sys = create_zybo_system();
   sys.reset(&sys);
 
-  unsigned long pwms[4];
-  pwms[0] = 100000;
-  pwms[1] = 100000;
-  pwms[2] = 100000;
-  pwms[3] = 100000;
-  int n = 0;
   while (1) {
-    int i;
-    for (i = 0; i < 4; i += 1) {
-      pwm_outputs.write(&pwm_outputs, i, pwms[i] + n++);
-      sys.sleep(&sys, 50);
+    int j;
+    for (j = 100000; j < 200000; j += 1) {
+      int i;
+      for (i = 0; i < 4; i += 1) {
+        pwm_outputs.write(&pwm_outputs, i, j);
+        sys.sleep(&sys, 50);
+      }
     }
     continue;
   }
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/main.c b/quad/xsdk_workspace/modular_quad_pid/src/main.c
index 03612577dfc3fddee8be5afcc442527b1986eae7..fe31f0fb683d269ac188b3a0e06c55c23b7d5d11 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/main.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/main.c
@@ -4,7 +4,7 @@
 #include "type_def.h"
 #include "platform.h"
 
-#define RUN_TESTS
+//#define RUN_TESTS
 
 int setup_hardware(hardware_t *hardware) {
   hardware->i2c = create_zybo_i2c();
@@ -30,7 +30,7 @@ int main()
   //test_zybo_pwm_outputs();
   //test_zybo_uart();
   //test_zybo_axi_timer();
-  test_zybo_uart();
+  //test_zybo_uart();
   return 0;
 #endif