diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index 662637714..3ab31a0fa 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -205,6 +205,8 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
             [this]() { settingChanged(); });
     connect(ui->testModeVbusButton, &QRadioButton::toggled,
             [this]() { settingChanged(); });
+    connect(ui->testModeVBFWButton, &QRadioButton::toggled,
+            [this]() { settingChanged(); });
 
     connect(ui->testLiveUpdateBox, &QCheckBox::toggled,
             [this](bool checked) { (void)checked; settingChanged(); });
@@ -332,7 +334,8 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
         if (mSettingUpdateRequired) {
             ui->testTorqueBox->setEnabled(ui->testModeTorqueButton->isChecked() ||
                                           ui->testModeRpmButton->isChecked() ||
-                                          ui->testModeVbusButton->isChecked());
+                                          ui->testModeVbusButton->isChecked() ||
+                                          ui->testModeVBFWButton->isChecked());
             ui->testPowerBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
                                          ui->testModeExpButton->isChecked());
             ui->testRpmStartBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
@@ -340,10 +343,12 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
             ui->testRpmBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
                                        ui->testModeExpButton->isChecked() ||
                                        ui->testModeRpmButton->isChecked() ||
-                                       ui->testModeTorqueButton->isChecked());
+                                       ui->testModeTorqueButton->isChecked() ||
+                                       ui->testModeVBFWButton->isChecked());
             ui->testExpBox->setEnabled(ui->testModeExpButton->isChecked());
             ui->testExpBaseTorqueBox->setEnabled(ui->testModeExpButton->isChecked());
-            ui->testVbusBox->setEnabled(ui->testModeVbusButton->isChecked());
+            ui->testVbusBox->setEnabled(ui->testModeVbusButton->isChecked() ||
+                                        ui->testModeVBFWButton->isChecked());
 
             if (ui->tabWidget->currentIndex() == 1) {
                 setQmlMotorParams();
@@ -595,6 +600,14 @@ void PageMotorComparison::updateDataAndPlot(double posx, double yMin, double yMa
             md.configure(&mM2Config, getParamsUi(2));
             md.updateTorqueVBus(posx, ui->testVbusBox->value());
             updateTable(md, ui->m2PlotTable);
+        } else if (ui->testModeVBFWButton->isChecked()) {
+            MotorData md;
+            md.configure(&mM1Config, getParamsUi(1));
+            md.updateTorqueVBusFW(posx, ui->testRpmBox->value(), ui->testVbusBox->value());
+            updateTable(md, ui->m1PlotTable);
+            md.configure(&mM2Config, getParamsUi(2));
+            md.updateTorqueVBusFW(posx, ui->testRpmBox->value(), ui->testVbusBox->value());
+            updateTable(md, ui->m2PlotTable);
         }
     }
 }
@@ -998,6 +1011,38 @@ void PageMotorComparison::on_testRunButton_clicked()
         updateGraphs(xAxis, yAxes, names);
     };
 
+    auto plotVBFWSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
+            ConfigParams &config, MotorDataParams param) {
+        double torque = fabs(ui->testTorqueBox->value());
+        double vbus = ui->testVbusBox->value();
+        double rpm = ui->testRpmBox->value();
+
+        QVector<double> xAxis;
+        QVector<QVector<double> > yAxes;
+        QVector<QString> names;
+
+        double torque_start = -torque;
+        if (!ui->testNegativeBox->isChecked()) {
+            torque_start = torque / plotPoints;
+        }
+
+        for (double t = torque_start;t < torque;t += (torque / plotPoints)) {
+            MotorData md;
+            md.configure(&config, param);
+            md.updateTorqueVBusFW(t, rpm, vbus);
+            xAxis.append(t);
+            updateData(md, table, yAxes, names);
+
+            if (md.rpm_motor_shaft >= param.maxRpm) {
+                mVesc->emitMessageDialog("Max RPM", "Maximum motor shaft RPM exceeded", false);
+                break;
+            }
+        }
+
+        ui->plot->xAxis->setLabel("Torque (Nm)");
+        updateGraphs(xAxis, yAxes, names);
+    };
+
     auto plotQmlSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
             ConfigParams &config, MotorDataParams param, int motor) {
 
@@ -1064,6 +1109,10 @@ void PageMotorComparison::on_testRunButton_clicked()
             ui->plot->clearGraphs();
             plotVbusSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
             plotVbusSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
+        } else if (ui->testModeVBFWButton->isChecked()) {
+            ui->plot->clearGraphs();
+            plotVBFWSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
+            plotVBFWSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
         }
     }
 
diff --git a/pages/pagemotorcomparison.h b/pages/pagemotorcomparison.h
index 702a9c8cd..55db4b3d6 100644
--- a/pages/pagemotorcomparison.h
+++ b/pages/pagemotorcomparison.h
@@ -135,9 +135,53 @@ struct MotorData {
         params = prm;
     }
 
-    Q_INVOKABLE bool updateTorqueVBus(double torque, double vbus) {
-        double rpm_guess = 1000.0;
+    Q_INVOKABLE bool updateTorqueVBusFW(double torque, double rpm, double vbus) {
+        double fw_max = params.fwCurrent;
+        params.fwCurrent = 0.0;
 
+        if (!update(rpm, torque)) {
+            params.fwCurrent = fw_max;
+            return false;
+        }
+
+        if (vbus_min < vbus) {
+            params.fwCurrent = fw_max;
+            return true;
+        }
+
+        double vbus_lower = vbus_min;
+        params.fwCurrent = fw_max;
+        update(rpm, torque);
+        double vbus_upper = vbus_min;
+
+        if (vbus_upper > vbus) {
+            return updateTorqueVBus(torque, vbus);
+        }
+
+        params.fwCurrent = Utility::map(vbus, vbus_lower, vbus_upper, 0.0, fw_max);
+
+        for (int j = 0;j < 20;j++) {
+            if (!update(rpm, torque)) {
+                params.fwCurrent = fw_max;
+                return false;
+            }
+
+            params.fwCurrent *= vbus_min / vbus;
+
+            if (params.fwCurrent > fw_max) {
+                params.fwCurrent = fw_max;
+            }
+
+            if (params.fwCurrent < 0.0) {
+                params.fwCurrent = 0.0;
+            }
+        }
+
+        params.fwCurrent = fw_max;
+        return true;
+    }
+
+    Q_INVOKABLE bool updateTorqueVBus(double torque, double vbus, double rpm_guess = 1000.0) {
         for (int i = 0;i < 20;i++) {
             if (!update(rpm_guess, torque)) {
                 return false;
@@ -187,7 +231,7 @@ struct MotorData {
         // Iterate taking motor saliency into account to get the current that produces the desired torque
         double torque_motor_shaft_updated = torque_motor_shaft;
         double iq_adj = 0.0;
-        for (int i = 0;i < 50;i++) {
+        for (int i = 0;i < 30;i++) {
             iq -= 0.2 * iq * (torque_motor_shaft_updated - torque_motor_shaft) /
                     (SIGN(torque_motor_shaft_updated) * fmax(fabs(torque_motor_shaft_updated), 1.0));
             iq += iq_adj;
diff --git a/pages/pagemotorcomparison.ui b/pages/pagemotorcomparison.ui
index 6331861af..76c3552b9 100644
--- a/pages/pagemotorcomparison.ui
+++ b/pages/pagemotorcomparison.ui
@@ -113,7 +113,17 @@
               <string>Torque sweep while keeping the bus voltage constant.</string>
              </property>
              <property name="text">
-              <string>Vbus</string>
+              <string>VBus</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="2">
+            <widget class="QRadioButton" name="testModeVBFWButton">
+             <property name="toolTip">
+              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Torque-sweep at fixed RPM and limited bus voltage. Uses field weakening according to the duty in the configuration and the current in the FW-box.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+             </property>
+             <property name="text">
+              <string>VB+FW</string>
              </property>
             </widget>
            </item>
@@ -450,14 +460,14 @@
           <item>
            <widget class="QLineEdit" name="compAEdit">
             <property name="text">
-             <string>A</string>
+             <string>Motor A</string>
             </property>
            </widget>
           </item>
           <item>
            <widget class="QLineEdit" name="compBEdit">
             <property name="text">
-             <string>B</string>
+             <string>Motor B</string>
             </property>
            </widget>
           </item>