diff --git a/include/param_prj.h b/include/param_prj.h
index b1b6b8f..2e25cc4 100644
--- a/include/param_prj.h
+++ b/include/param_prj.h
@@ -17,7 +17,7 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#define VER 5.26.R
+#define VER 5.27.R
 
 /* Entries should be ordered as follows:
    1. Saveable parameters
@@ -25,7 +25,7 @@
    3. Display values
  */
 //Next param id (increase when adding new parameter!): 153
-//Next value Id: 2051
+//Next value Id: 2052
 /*              category     name         unit       min     max     default id */
 
 #define MOTOR_PARAMETERS_COMMON \
@@ -172,6 +172,7 @@
     VALUE_ENTRY(angle,       "°",     2014 ) \
     VALUE_ENTRY(pot,         "dig",   2015 ) \
     VALUE_ENTRY(pot2,        "dig",   2016 ) \
+    VALUE_ENTRY(regenpreset, "%",     2051 ) \
     VALUE_ENTRY(potnom,      "%",     2017 ) \
     VALUE_ENTRY(dir,         DIRS,    2018 ) \
     VALUE_ENTRY(tmphs,       "°C",    2019 ) \
diff --git a/libopeninv b/libopeninv
index 0eefc35..b16314e 160000
--- a/libopeninv
+++ b/libopeninv
@@ -1 +1 @@
-Subproject commit 0eefc357b7f0cb8a60c299e23f618babd2e046a3
+Subproject commit b16314edfc61888038a08c2dfb231061415d3156
diff --git a/src/stm32_sine.cpp b/src/stm32_sine.cpp
index 1108f4b..89b80ea 100644
--- a/src/stm32_sine.cpp
+++ b/src/stm32_sine.cpp
@@ -342,6 +342,7 @@ static void UpgradeParameters()
 {
    Param::SetInt(Param::version, 4); //backward compatibility
    Param::SetInt(Param::hwver, hwRev);
+   Param::SetInt(Param::regenpreset, 100); //default to 100% regen if not CAN mapped
 
    if (Param::GetInt(Param::snsm) < 12)
       Param::SetInt(Param::snsm, Param::GetInt(Param::snsm) + 10); //upgrade parameter
diff --git a/src/vehiclecontrol.cpp b/src/vehiclecontrol.cpp
index 52f9086..bd55210 100644
--- a/src/vehiclecontrol.cpp
+++ b/src/vehiclecontrol.cpp
@@ -114,6 +114,7 @@ void VehicleControl::SelectDirection()
    int selectedDir = Param::GetInt(Param::dir);
    int userDirSelection = 0;
    int dirSign = (Param::GetInt(Param::dirmode) & DIR_REVERSED) ? -1 : 1;
+   bool potPressed = Param::GetInt(Param::potnom) > 0;
 
    //When in bidirection throttle mode, direction is determined by that
    if (Param::GetInt(Param::potmode) & POTMODE_BIDIR) return;
@@ -150,14 +151,10 @@ void VehicleControl::SelectDirection()
          userDirSelection = -1 * dirSign;
    }
 
-   /* Only change direction when below certain motor speed */
-   if ((int)Encoder::GetSpeed() < Param::GetInt(Param::dirchrpm))
+   /* Only change direction when below certain motor speed and throttle is not pressed */
+   if ((int)Encoder::GetSpeed() < Param::GetInt(Param::dirchrpm) && !potPressed)
       selectedDir = userDirSelection;
 
-   /* Current direction doesn't match selected direction -> neutral */
-   //if (selectedDir != userDirSelection)
-     // selectedDir = 0;
-
    Param::SetInt(Param::dir, selectedDir);
 }
 
@@ -517,7 +514,7 @@ void VehicleControl::GetTemps(float& tmphs, float &tmpm)
 
 float VehicleControl::GetUserThrottleCommand()
 {
-   float potnom1, potnom2;
+   float potnom1, potnom2, regenPreset;
    int potval, pot2val;
    bool brake = Param::GetBool(Param::din_brake);
    int potmode = Param::GetInt(Param::potmode);
@@ -557,6 +554,16 @@ float VehicleControl::GetUserThrottleCommand()
    potnom1 = Throttle::DigitsToPercent(potval, 0);
    potnom2 = Throttle::DigitsToPercent(pot2val, 1);
 
+   if (potmode == POTMODE_REGENADJ)
+   {
+      regenPreset = potnom2;
+      Param::SetFloat(Param::regenpreset, regenPreset);
+   }
+   else
+   {
+      regenPreset = Param::GetFloat(Param::regenpreset);
+   }
+
    if ((potmode & POTMODE_BIDIR) > 0)
    {
       if (!inRange1) return 0;
@@ -614,10 +621,10 @@ float VehicleControl::GetUserThrottleCommand()
       return 0;
    }
 
-   if (Param::GetInt(Param::dir) == 0)
-      return 0;
+   //if (Param::GetInt(Param::dir) == 0)
+   //   return 0;
 
-   return Throttle::CalcThrottle(potnom1, potnom2, brake);
+   return Throttle::CalcThrottle(potnom1, regenPreset, brake);
 }
 
 bool VehicleControl::GetCruiseCreepCommand(float& finalSpnt, float throtSpnt)