diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index b9d984604..20699ffcd 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -166,6 +166,8 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
 
     connect(ui->testLiveUpdateBox, &QCheckBox::toggled,
             [this](bool checked) { (void)checked; settingChanged(); });
+    connect(ui->testNegativeBox, &QCheckBox::toggled,
+            [this](bool checked) { (void)checked; settingChanged(); });
 
     connect(ui->testRpmBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
             [this](double value) { (void)value; settingChanged(); });
@@ -387,7 +389,7 @@ bool PageMotorComparison::reloadConfigs()
 
 void PageMotorComparison::updateDataAndPlot(double posx, double yMin, double yMax)
 {
-    if (posx < 0.0) {
+    if (posx < 0.0 && !ui->testNegativeBox->isChecked()) {
         posx = 0.0;
     }
 
@@ -668,14 +670,19 @@ void PageMotorComparison::on_testRunButton_clicked()
 
     auto plotTorqueSweep = [this, updateData, updateGraphs](QTableWidget *table,
             ConfigParams &config, TestParams param) {
-        double torque = ui->testTorqueBox->value();
+        double torque = fabs(ui->testTorqueBox->value());
         double rpm = ui->testRpmBox->value();
 
         QVector<double> xAxis;
         QVector<QVector<double> > yAxes;
         QVector<QString> names;
 
-        for (double t = torque / 1000.0;t < torque;t += (torque / 1000.0)) {
+        double torque_start = -torque;
+        if (!ui->testNegativeBox->isChecked()) {
+            torque_start = torque / 1000.0;
+        }
+
+        for (double t = torque_start;t < torque;t += (torque / 1000.0)) {
             MotorData md;
             md.update(config, rpm, t, param);
             xAxis.append(t);
@@ -700,7 +707,12 @@ void PageMotorComparison::on_testRunButton_clicked()
         QVector<QVector<double> > yAxes;
         QVector<QString> names;
 
-        for (double r = rpm / 1000.0;r < rpm;r += (rpm / 1000.0)) {
+        double rpm_start = -rpm;
+        if (!ui->testNegativeBox->isChecked()) {
+            rpm_start = rpm / 1000.0;
+        }
+
+        for (double r = rpm_start;r < rpm;r += (rpm / 1000.0)) {
             MotorData md;
             md.update(config, r, torque, param);
             xAxis.append(r);
diff --git a/pages/pagemotorcomparison.h b/pages/pagemotorcomparison.h
index 702f6cdaf..9e14db81d 100644
--- a/pages/pagemotorcomparison.h
+++ b/pages/pagemotorcomparison.h
@@ -135,7 +135,7 @@ private slots:
             double rps_out = rpm * 2.0 * M_PI / 60.0;
             double rps_motor = rps_out * params.gearing;
             double e_rps = rps_motor * pole_pairs;
-            double t_nl = (3.0 / 2.0) * i_nl * lambda * pole_pairs; // No-load torque from core losses
+            double t_nl = SIGN(rpm) * (3.0 / 2.0) * i_nl * lambda * pole_pairs; // No-load torque from core losses
 
             iq = ((torque_motor_shaft + t_nl) * (2.0 / 3.0) / (lambda * pole_pairs));
             id = -params.fwCurrent;
@@ -169,7 +169,9 @@ private slots:
             loss_tot = loss_motor_tot + loss_gearing;
             p_out = rps_motor * torque_motor_shaft * params.motorNum * params.gearingEfficiency;
             p_in = rps_motor * torque_motor_shaft * params.motorNum + loss_motor_tot;
-            efficiency = p_out / p_in;
+
+            efficiency = fmin(fabs(p_out), fabs(p_in)) / fmax(fabs(p_out), fabs(p_in));
+
             vq = r * iq + e_rps * (lambda + id * ld);
             vd = r * id - e_rps * lq * iq;
             vbus_min = (3.0 / 2.0) * sqrt(vq * vq + vd * vd) / (sqrt(3.0) / 2.0) / 0.95;
diff --git a/pages/pagemotorcomparison.ui b/pages/pagemotorcomparison.ui
index 17ef060ad..79651206a 100644
--- a/pages/pagemotorcomparison.ui
+++ b/pages/pagemotorcomparison.ui
@@ -88,10 +88,13 @@
             <property name="spacing">
              <number>2</number>
             </property>
-            <item row="1" column="1">
-             <widget class="QDoubleSpinBox" name="testRpmBox">
+            <item row="1" column="0">
+             <widget class="QDoubleSpinBox" name="testRpmStartBox">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
               <property name="toolTip">
-               <string>End RPM</string>
+               <string>Start RPM</string>
               </property>
               <property name="prefix">
                <string/>
@@ -102,6 +105,9 @@
               <property name="decimals">
                <number>0</number>
               </property>
+              <property name="minimum">
+               <double>10.000000000000000</double>
+              </property>
               <property name="maximum">
                <double>999999.000000000000000</double>
               </property>
@@ -109,35 +115,32 @@
                <double>100.000000000000000</double>
               </property>
               <property name="value">
-               <double>8000.000000000000000</double>
+               <double>500.000000000000000</double>
               </property>
              </widget>
             </item>
-            <item row="0" column="0">
-             <widget class="QDoubleSpinBox" name="testPowerBox">
+            <item row="2" column="0">
+             <widget class="QDoubleSpinBox" name="testExpBaseTorqueBox">
               <property name="enabled">
                <bool>false</bool>
               </property>
+              <property name="toolTip">
+               <string>Base Torque</string>
+              </property>
               <property name="prefix">
-               <string>Pwr: </string>
+               <string>B: </string>
               </property>
               <property name="suffix">
-               <string> W</string>
+               <string> Nm</string>
               </property>
               <property name="decimals">
-               <number>1</number>
-              </property>
-              <property name="minimum">
-               <double>0.100000000000000</double>
+               <number>3</number>
               </property>
               <property name="maximum">
-               <double>999999.000000000000000</double>
+               <double>999.000000000000000</double>
               </property>
               <property name="singleStep">
-               <double>100.000000000000000</double>
-              </property>
-              <property name="value">
-               <double>2000.000000000000000</double>
+               <double>0.200000000000000</double>
               </property>
              </widget>
             </item>
@@ -152,6 +155,9 @@
               <property name="decimals">
                <number>3</number>
               </property>
+              <property name="minimum">
+               <double>-9999.000000000000000</double>
+              </property>
               <property name="maximum">
                <double>9999.000000000000000</double>
               </property>
@@ -163,13 +169,38 @@
               </property>
              </widget>
             </item>
-            <item row="1" column="0">
-             <widget class="QDoubleSpinBox" name="testRpmStartBox">
+            <item row="0" column="0">
+             <widget class="QDoubleSpinBox" name="testPowerBox">
               <property name="enabled">
                <bool>false</bool>
               </property>
+              <property name="prefix">
+               <string>Pwr: </string>
+              </property>
+              <property name="suffix">
+               <string> W</string>
+              </property>
+              <property name="decimals">
+               <number>1</number>
+              </property>
+              <property name="minimum">
+               <double>0.100000000000000</double>
+              </property>
+              <property name="maximum">
+               <double>999999.000000000000000</double>
+              </property>
+              <property name="singleStep">
+               <double>100.000000000000000</double>
+              </property>
+              <property name="value">
+               <double>2000.000000000000000</double>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QDoubleSpinBox" name="testRpmBox">
               <property name="toolTip">
-               <string>Start RPM</string>
+               <string>End RPM</string>
               </property>
               <property name="prefix">
                <string/>
@@ -180,9 +211,6 @@
               <property name="decimals">
                <number>0</number>
               </property>
-              <property name="minimum">
-               <double>10.000000000000000</double>
-              </property>
               <property name="maximum">
                <double>999999.000000000000000</double>
               </property>
@@ -190,7 +218,7 @@
                <double>100.000000000000000</double>
               </property>
               <property name="value">
-               <double>500.000000000000000</double>
+               <double>8000.000000000000000</double>
               </property>
              </widget>
             </item>
@@ -219,36 +247,18 @@
               </property>
              </widget>
             </item>
-            <item row="2" column="0">
-             <widget class="QDoubleSpinBox" name="testExpBaseTorqueBox">
-              <property name="enabled">
-               <bool>false</bool>
-              </property>
+            <item row="3" column="0" colspan="2">
+             <widget class="QCheckBox" name="testNegativeBox">
               <property name="toolTip">
-               <string>Base Torque</string>
-              </property>
-              <property name="prefix">
-               <string>B: </string>
-              </property>
-              <property name="suffix">
-               <string> Nm</string>
-              </property>
-              <property name="decimals">
-               <number>3</number>
-              </property>
-              <property name="maximum">
-               <double>999.000000000000000</double>
+               <string>Include negative RPM and Torque in tests.</string>
               </property>
-              <property name="singleStep">
-               <double>0.200000000000000</double>
+              <property name="text">
+               <string>Include Negative</string>
               </property>
              </widget>
             </item>
            </layout>
           </item>
-          <item>
-           <widget class="QComboBox" name="testTorqueExpPresetBox"/>
-          </item>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_5">
             <item>