diff --git a/actuator/pca9685.go b/actuator/pca9685.go
index 10d4986..02a3969 100644
--- a/actuator/pca9685.go
+++ b/actuator/pca9685.go
@@ -1,7 +1,7 @@
 package actuator
 
 import (
-	"log"
+	log "github.com/sirupsen/logrus"
 	"periph.io/x/periph/conn/i2c/i2creg"
 	"periph.io/x/periph/conn/physic"
 	"periph.io/x/periph/experimental/devices/pca9685"
@@ -13,27 +13,27 @@ var (
 )
 
 func init() {
-	log.Print("init pca9685 controller")
+	log.Info("init pca9685 controller")
 	_, err := host.Init()
 	if err != nil {
 		log.Fatalf("unable to init host: %v", err)
 	}
 
-	log.Print("open i2c bus")
+	log.Info("open i2c bus")
 	bus, err := i2creg.Open("")
 	if err != nil {
 		log.Fatalf("unable to init i2c bus: %v", err)
 	}
-	log.Print("i2c bus opened")
+	log.Info("i2c bus opened")
 
 	device, err = pca9685.NewI2C(bus, pca9685.I2CAddr)
 	if err != nil {
 		log.Fatalf("unable to init pca9685 bus: %v", err)
 	}
-	log.Printf("set pwm frequency to %d", 60)
+	log.Infof("set pwm frequency to %d", 60)
 	err = device.SetPwmFreq(60 * physic.Hertz)
 	if err != nil {
-		log.Fatalf("unable to set pwm frequency: %v", err)
+		log.Panicf("unable to set pwm frequency: %v", err)
 	}
-	log.Print("init done")
+	log.Info("init done")
 }
diff --git a/actuator/steering.go b/actuator/steering.go
index ea596dd..de7cebd 100644
--- a/actuator/steering.go
+++ b/actuator/steering.go
@@ -21,7 +21,7 @@ type Steering struct {
 func (s *Steering) SetPulse(pulse int) {
 	err := s.dev.SetPwm(s.channel, 0, gpio.Duty(pulse))
 	if err != nil {
-		log.Infof("unable to set throttle pwm value: %v", err)
+		log.Warningf("unable to set steering pwm value: %v", err)
 	}
 
 }
diff --git a/actuator/throttle.go b/actuator/throttle.go
index 0d6e946..9a5cf43 100644
--- a/actuator/throttle.go
+++ b/actuator/throttle.go
@@ -34,6 +34,7 @@ func (t *Throttle) SetPercentValue(p float32) {
 	} else {
 		pulse = util.MapRange(float64(p), MinThrottle, 0, float64(t.minPulse), float64(t.zeroPulse))
 	}
+	log.Debugf("set throttle to %v-> %v (%v, %v, %v, %v, %v)", p, pulse, LeftAngle, RightAngle, t.minPulse, t.maxPulse, t.zeroPulse)
 	t.SetPulse(pulse)
 }
 
@@ -46,7 +47,7 @@ func NewThrottle(channel, zeroPulse, minPulse, maxPulse int) *Throttle {
 		maxPulse:  maxPulse,
 	}
 
-	log.Printf("send zero pulse to calibrate ESC: %v", zeroPulse)
+	log.Infof("send zero pulse to calibrate ESC")
 	t.SetPulse(zeroPulse)
 
 	return &t
diff --git a/cmd/rc-pca9685/rc-pca9685.go b/cmd/rc-pca9685/rc-pca9685.go
index 247aac9..585123d 100644
--- a/cmd/rc-pca9685/rc-pca9685.go
+++ b/cmd/rc-pca9685/rc-pca9685.go
@@ -24,40 +24,42 @@ const (
 
 func main() {
 	var mqttBroker, username, password, clientId, topicThrottle, topicSteering string
+	var debug bool
 
 	mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
 	_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
 
 	cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
+	flag.BoolVar(&debug, "debug", false, "Display raw value to debug")
 
 	var throttleChannel, throttleStoppedPWM, throttleMinPWM, throttleMaxPWM int
 	if err := cli.SetIntDefaultValueFromEnv(&throttleChannel, "THROTTLE_CHANNEL", ThrottleChannel); err != nil {
-		log.Infof("unable to init throttleChannel arg: %v", err)
+		log.Warningf("unable to init throttleChannel arg: %v", err)
 	}
 	if err := cli.SetIntDefaultValueFromEnv(&throttleStoppedPWM, "THROTTLE_STOPPED_PWM", ThrottleStoppedPWM); err != nil {
-		log.Infof("unable to init throttleStoppedPWM arg: %v", err)
+		log.Warningf("unable to init throttleStoppedPWM arg: %v", err)
 	}
 	if err := cli.SetIntDefaultValueFromEnv(&throttleMinPWM, "THROTTLE_MIN_PWM", ThrottleMinPWM); err != nil {
-		log.Infof("unable to init throttleMinPWM arg: %v", err)
+		log.Warningf("unable to init throttleMinPWM arg: %v", err)
 	}
 	if err := cli.SetIntDefaultValueFromEnv(&throttleMaxPWM, "THROTTLE_MAX_PWM", ThrottleMaxPWM); err != nil {
-		log.Infof("unable to init throttleMaxPWM arg: %v", err)
+		log.Warningf("unable to init throttleMaxPWM arg: %v", err)
 	}
 
 	var steeringChannel, steeringLeftPWM, steeringRightPWM int
 	if err := cli.SetIntDefaultValueFromEnv(&steeringChannel, "STEERING_CHANNEL", SteeringChannel); err != nil {
-		log.Infof("unable to init steeringChannel arg: %v", err)
+		log.Warningf("unable to init steeringChannel arg: %v", err)
 	}
 	if err := cli.SetIntDefaultValueFromEnv(&steeringLeftPWM, "STEERING_LEFT_PWM", SteeringLeftPWM); err != nil {
-		log.Infof("unable to init steeringLeftPWM arg: %v", err)
+		log.Warningf("unable to init steeringLeftPWM arg: %v", err)
 	}
 	if err := cli.SetIntDefaultValueFromEnv(&steeringRightPWM, "STEERING_RIGHT_PWM", SteeringRightPWM); err != nil {
-		log.Infof("unable to init steeringRightPWM arg: %v", err)
+		log.Warningf("unable to init steeringRightPWM arg: %v", err)
 	}
 
 	var updatePWMFrequency int
 	if err := cli.SetIntDefaultValueFromEnv(&updatePWMFrequency, "UPDATE_PWM_FREQUENCY", 25); err != nil {
-		log.Infof("unable to init updatePWMFrequency arg: %v", err)
+		log.Warningf("unable to init updatePWMFrequency arg: %v", err)
 	}
 
 	flag.StringVar(&topicThrottle, "mqtt-topic-throttle", os.Getenv("MQTT_TOPIC_THROTTLE"), "Mqtt topic that contains throttle value, use MQTT_TOPIC_THROTTLE if args not set")
@@ -77,6 +79,10 @@ func main() {
 		os.Exit(1)
 	}
 
+	if debug {
+		log.SetLevel(log.DebugLevel)
+	}
+
 	client, err := cli.Connect(mqttBroker, username, password, clientId)
 	if err != nil {
 		log.Fatalf("unable to connect to mqtt bus: %v", err)
diff --git a/part/part.go b/part/part.go
index d8d47b1..e1733b8 100644
--- a/part/part.go
+++ b/part/part.go
@@ -67,9 +67,10 @@ func (p *Pca9685Part) onThrottleChange(_ MQTT.Client, message MQTT.Message) {
 	var throttle events.ThrottleMessage
 	err := proto.Unmarshal(message.Payload(), &throttle)
 	if err != nil {
-		log.Infof("[%v] unable to unmarshall throttle msg: %v", message.Topic(), err)
+		log.Warningf("[%v] unable to unmarshall throttle msg: %v", message.Topic(), err)
 		return
 	}
+	log.Debugf("new throttle value: %v", throttle.GetThrottle())
 	p.muThrottle.Lock()
 	defer p.muThrottle.Unlock()
 	p.throttleCtrl.SetPercentValue(throttle.GetThrottle())
@@ -79,7 +80,7 @@ func (p *Pca9685Part) onSteeringChange(_ MQTT.Client, message MQTT.Message) {
 	var steering events.SteeringMessage
 	err := proto.Unmarshal(message.Payload(), &steering)
 	if err != nil {
-		log.Infof("[%v] unable to unmarshall steering msg: %v", message.Topic(), err)
+		log.Warningf("[%v] unable to unmarshal steering msg: %v", message.Topic(), err)
 		return
 	}
 	p.muSteering.Lock()