diff --git a/Firmware/eeprom.h b/Firmware/eeprom.h
index e2775d157..94c8ee541 100644
--- a/Firmware/eeprom.h
+++ b/Firmware/eeprom.h
@@ -668,8 +668,9 @@ static Sheets * const EEPROM_Sheets_base = (Sheets*)(EEPROM_SHEETS_BASE);
 #define EEPROM_UVLO_MIN_SEGMENT_TIME_US (EEPROM_UVLO_MIN_TRAVEL_FEEDRATE-4) //uint32_t
 #define EEPROM_UVLO_MAX_JERK (EEPROM_UVLO_MIN_SEGMENT_TIME_US-4*4) // 4 x float
 #define EEPROM_CHECK_FILAMENT (EEPROM_UVLO_MAX_JERK-1) // uint8_t
+#define EEPROM_TMC2130_WAVE_ALGORITHM (EEPROM_CHECK_FILAMENT - 1) // uint8
 //This is supposed to point to last item to allow EEPROM overrun check. Please update when adding new items.
-#define EEPROM_LAST_ITEM EEPROM_CHECK_FILAMENT
+#define EEPROM_LAST_ITEM EEPROM_TMC2130_WAVE_ALGORITHM
 // !!!!!
 // !!!!! this is end of EEPROM section ... all updates MUST BE inserted before this mark !!!!!
 // !!!!!
diff --git a/Firmware/messages.cpp b/Firmware/messages.cpp
index d68aca79f..f63ee0f19 100644
--- a/Firmware/messages.cpp
+++ b/Firmware/messages.cpp
@@ -318,6 +318,9 @@ extern const char MSG_X_CORRECTION [] PROGMEM_I1 = ISTR("X-correct"); ////MSG_X_
 extern const char MSG_Y_CORRECTION [] PROGMEM_I1 = ISTR("Y-correct"); ////MSG_Y_CORRECTION c=13
 extern const char MSG_Z_CORRECTION [] PROGMEM_I1 = ISTR("Z-correct"); ////MSG_Z_CORRECTION c=13
 extern const char MSG_EXTRUDER_CORRECTION [] PROGMEM_I1 = ISTR("E-correct"); ////MSG_EXTRUDER_CORRECTION c=13
+extern const char MSG_WAVE_ALGORITHM [] PROGMEM_I1 = ISTR("Algorithm"); ////MSG_WAVE_ALGORITHM c=13
+extern const char MSG_ALGORITHM_DEFAULT [] PROGMEM_I1 = ISTR("Default"); ////MSG_ALGORITHM_DEFAULT c=13
+extern const char MSG_ALGORITHM_CONST_TQ [] PROGMEM_I1 = ISTR("Const tq"); ////MSG_ALGORITHM_CONST_TQ c=13
 extern const char MSG_CHECKS [] PROGMEM_I1 = ISTR("Checks"); ////MSG_CHECKS c=18
 extern const char MSG_TEMPERATURE [] PROGMEM_I1 = ISTR("Temperature"); ////MSG_TEMPERATURE c=18
 extern const char MSG_MOVE_AXIS [] PROGMEM_I1 = ISTR("Move axis"); ////MSG_MOVE_AXIS c=18
diff --git a/Firmware/messages.h b/Firmware/messages.h
index 52adb82c4..5c5836089 100644
--- a/Firmware/messages.h
+++ b/Firmware/messages.h
@@ -317,6 +317,9 @@ extern const char MSG_X_CORRECTION [];
 extern const char MSG_Y_CORRECTION [];
 extern const char MSG_Z_CORRECTION [];
 extern const char MSG_EXTRUDER_CORRECTION [];
+extern const char MSG_WAVE_ALGORITHM [];
+extern const char MSG_ALGORITHM_DEFAULT [];
+extern const char MSG_ALGORITHM_CONST_TQ [];
 extern const char MSG_CHECKS [];
 extern const char MSG_TEMPERATURE [];
 extern const char MSG_MOVE_AXIS [];
diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp
index 464ca6ed0..1084f6be1 100755
--- a/Firmware/tmc2130.cpp
+++ b/Firmware/tmc2130.cpp
@@ -8,6 +8,8 @@
 #include "language.h"
 #include "spi.h"
 #include "Timer.h"
+#include "eeprom.h"
+#include <math.h>
 
 #define TMC2130_GCONF_NORMAL 0x00000000 // spreadCycle
 #define TMC2130_GCONF_SGSENS 0x00000180 // spreadCycle with stallguard (stall activates DIAG0 and DIAG1 [open collector])
@@ -883,6 +885,107 @@ void tmc2130_get_wave(uint8_t axis, uint8_t* data)
 	tmc2130_set_pwr(axis, pwr);
 }
 
+// Calculate constant torque value for a given microstep positionAdd commentMore actions
+//
+// Maintains |A|² + |B|² = constant throughout the microstep cycle, where A and B are the two motor phases. 
+// Uses a two-phase approach: positions 0-127 follow a power-corrected sine curve, 
+// while positions 128-255 are calculated using the constant torque constraint equation.
+//
+// Creates only deltas achievable by TMC2130 in at most four segments. It relies on the fact, 
+// that for power corrected sine curve with fac [1, 1.2] the slope stays in the range [0, 2]
+// and fits at most three segments.
+//
+// Parameters:
+// - i: microstep position (0-255)
+// - va: previous amplitude value for delta calculation
+// - fac: power factor for linearity correction
+// - tcorr: pre-calculated torque correction factor
+// - carry: quantization error carry-forward (modified by reference)
+// - prev_theoretical_value: previous theoretical value for slope calculation (modified by reference)
+//
+// Returns: 8-bit amplitude value clamped to [SIN0, AMP] range
+//
+// References:
+// - Prusa Forum: "TMC2130 constant torque algorithm" discussion
+//   https://forum.prusa3d.com/forum/original-prusa-i3-mk3s-mk3-user-mods-octoprint-enclosures-nozzles/stepper-motor-upgrades-to-eliminate-vfa-s-vertical-fine-artifacts/paged/2/
+// - Analog Devices AN-026: "Stepper Motor Control Using TMC2130"
+//   https://www.analog.com/en/resources/app-notes/an-026.html
+uint8_t tmc2130_calc_constant_torque_value(uint8_t i, uint8_t va, float fac, float tcorr,
+                                          float& prev_theoretical_value) {
+	constexpr uint8_t SIN0 = 0;
+	constexpr uint8_t AMP = 248;  // Amplitude limit as per AN-026 recommendation
+	constexpr float TARGET_MAGNITUDE_SQUARED = (float)AMP * AMP + (float)SIN0 * SIN0;
+
+	// Theoretical constant torque value at microstep position i
+	float theoretical_value;
+
+	if (i < 128) {
+		// Phase 1 (positions 0-127): Power-corrected sine curve
+		// Calculate theoretical value using sine function with power factor
+		// correction and tcorr adjustment for midpoint matching
+		float sin_val = sin(M_PI * (float)i / 512.0f);
+		theoretical_value = (AMP - SIN0) * pow(sin_val, fac) * tcorr + SIN0;
+	} else {
+		// Phase 2 (positions 128-255): Constant torque constraint solving
+		// For constant torque: |A(i)|² + |B(i)|² = TARGET_MAGNITUDE_SQUARED
+		// Since B(i) = A(255-i), solve: |A(i)|² + |A(255-i)|² = TARGET_MAGNITUDE_SQUARED
+		// Therefore: A(i) = sqrt(TARGET_MAGNITUDE_SQUARED - A(255-i)²)
+
+		// Calculate mirror position value from Phase 1 curve
+		uint8_t mirror_i = 255 - i;
+		float sin_val = sin(M_PI * (float)mirror_i / 512.0f);
+		float mirror_theoretical = (AMP - SIN0) * pow(sin_val, fac) * tcorr + SIN0;
+
+		// Apply constant torque constraint
+		theoretical_value = sqrt(TARGET_MAGNITUDE_SQUARED - mirror_theoretical * mirror_theoretical);
+	}
+
+	// Step 1: Initial quantization using simple rounding
+	uint8_t candidate_value = (uint8_t)(theoretical_value + 0.5);
+
+	// Step 2: Slope-based delta limiting for TMC2130 compression
+	// Calculate slope between current and previous theoretical values
+	float slope = theoretical_value - prev_theoretical_value;
+
+	// Determine allowed delta range
+	// This ensures delta ranges match slope ranges for optimal compression:
+	// slope ∈ [0,1) → deltas ∈ [0,1], slope ∈ [1,2) → deltas ∈ [1,2], etc.
+	int8_t min_delta = (int8_t)floor(slope);
+
+	// Clamp to TMC2130 hardware delta limits [-1, 3]
+	// Max delta is 2 because we need range [min_delta, min_delta+1]
+	if (min_delta < -1) {
+		min_delta = -1;
+	} else if (min_delta > 2) {
+		min_delta = 2;
+	}
+
+	// Enforce delta limits: constrain actual delta to [min_delta, min_delta+1]
+	int8_t delta = candidate_value - va;
+	if (delta < min_delta) {
+		candidate_value = va + min_delta;
+	} else if (delta > min_delta + 1) {
+		candidate_value = va + min_delta + 1;
+	}
+
+	// Step 3: Final amplitude clamping to valid TMC2130 range
+	if (candidate_value < SIN0) {
+		candidate_value = SIN0;
+	} else if (candidate_value > AMP) {
+		candidate_value = AMP;
+	}
+
+	// Update previous theoretical value for next slope calculation
+	prev_theoretical_value = theoretical_value;
+
+	return candidate_value;
+}
+
+// TMC2130 Wave Generation with Algorithm Selection
+//
+// Algorithm Overview:
+// - Original: Simple sine wave with power factor adjustment
+// - Constant Torque: Maintains |A|² + |B|² = constant throughout microstep cycle
 void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac1000)
 {
 // TMC2130 wave compression algorithm
@@ -890,7 +993,7 @@ void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac1000)
 //	printf_P(PSTR("tmc2130_set_wave %d %d\n"), axis, fac1000);
 	if (fac1000 < TMC2130_WAVE_FAC1000_MIN) fac1000 = 0;
 	if (fac1000 > TMC2130_WAVE_FAC1000_MAX) fac1000 = TMC2130_WAVE_FAC1000_MAX;
-	float fac = 0;
+	float fac = 1;
 	if (fac1000) fac = ((float)((uint16_t)fac1000 + 1000) / 1000); //correction factor
 //	printf_P(PSTR(" factor: %s\n"), ftostr43(fac));
 	uint8_t vA = 0;                //value of currentA
@@ -904,16 +1007,40 @@ void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac1000)
 	int8_t dA;                     //delta value
 	uint8_t i = 0;                         //microstep index
 	uint32_t reg = 0;              //tmc2130 register
-	tmc2130_wr_MSLUTSTART(axis, 0, amp);
+
+	// Constant torque algorithm parameters (only used if use_constant_torque is true)
+	float prev_theoretical_value = 0.0;  // Cache previous theoretical value for slope calculation (initialized with SIN0)
+	float tcorr = 1.0;  // Pre-calculated correction factor for constant torque algorithm
+
+	uint8_t algorithm = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_ALGORITHM);
+	bool use_constant_torque = (algorithm == TMC2130_WAVE_ALGORITHM_CONSTANT_TORQUE);
+
+	// Pre-calculate tcorr for constant torque algorithm to avoid redundant calculations
+	if (use_constant_torque) {
+		constexpr uint8_t SIN0 = 0;
+		constexpr uint8_t AMP = 248;  // Amplitude limit as per AD recommendation
+		constexpr float MIDPOINT_VALUE = 175.362481734263781f;  // sqrt((AMP² + SIN0²) / 2)
+		constexpr float SIN_127_5 = 0.704934080375905f;  // sin(M_PI * 127.5f / 512.0f)
+
+		tcorr = (MIDPOINT_VALUE - SIN0) / ((AMP - SIN0) * pow(SIN_127_5, fac));
+		tmc2130_wr_MSLUTSTART(axis, SIN0, AMP);
+	} else {
+		tmc2130_wr_MSLUTSTART(axis, 0, amp);
+	}
 	do
 	{
 		if ((i & 0x1f) == 0)
 			reg = 0;
-		// calculate value
-		if (fac == 0) // default TMC wave
-			vA = (uint8_t)((amp+1) * sin((2*PI*i + PI)/1024) + 0.5) - 1;
-		else // corrected wave
-			vA = (uint8_t)(amp * pow(sin(2*PI*i/1024), fac) + 0.5);
+
+		if (use_constant_torque) {
+			vA = tmc2130_calc_constant_torque_value(i, va, fac, tcorr, prev_theoretical_value);
+		} else {
+			// calculate value
+			if (fac == 1) // default TMC wave
+				vA = (uint8_t)((amp+1) * sin((2*PI*i + PI)/1024) + 0.5) - 1;
+			else // corrected wave
+				vA = (uint8_t)(amp * pow(sin(2*PI*i/1024), fac) + 0.5);
+		}
 		dA = vA - va; // calculate delta
 		va = vA;
 		b = -1;
diff --git a/Firmware/tmc2130.h b/Firmware/tmc2130.h
index 6c1308113..74198fa95 100644
--- a/Firmware/tmc2130.h
+++ b/Firmware/tmc2130.h
@@ -22,10 +22,14 @@ extern const char eMotorCurrentScalingEnabled[];
 #define TMC2130_MODE_NORMAL 0
 #define TMC2130_MODE_SILENT 1
 
-#define TMC2130_WAVE_FAC1000_MIN  30
+#define TMC2130_WAVE_FAC1000_MIN  0
 #define TMC2130_WAVE_FAC1000_MAX 200
 #define TMC2130_WAVE_FAC1000_STP   1
 
+// Wave algorithm selection
+#define TMC2130_WAVE_ALGORITHM_DEFAULT         0xFF  // Default Prusa algorithm (0xFF = uninitialized EEPROM)
+#define TMC2130_WAVE_ALGORITHM_CONSTANT_TORQUE 1     // Constant torque algorithm
+
 #define TMC2130_MINIMUM_PULSE 0   // minimum pulse width in uS
 #define TMC2130_SET_DIR_DELAY 20  // minimum delay after setting direction in uS
 #define TMC2130_SET_PWR_DELAY 0   // minimum delay after changing pwr mode in uS
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 2b3001dee..3d0b7769c 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -12,6 +12,7 @@
 #include "stepper.h"
 #include "ConfigurationStore.h"
 #include "printers.h"
+#include "eeprom.h"
 #include <string.h>
 #include "stopwatch.h"
 
@@ -102,6 +103,7 @@ static void lcd_settings_menu();
 static void lcd_control_temperature_menu();
 #ifdef TMC2130
 static void lcd_settings_linearity_correction_menu_save();
+static void lcd_tmc2130_wave_algorithm_toggle();
 #endif
 static void lcd_menu_xyz_y_min();
 static void lcd_menu_xyz_skew();
@@ -4030,12 +4032,23 @@ void lcd_settings_linearity_correction_menu(void)
         lcd_settings_linearity_correction_menu_save();
     );
 	MENU_ITEM_BACK_P(_T(MSG_SETTINGS));
+
+	// Algorithm selection toggle (read from EEPROM to support runtime changes)
+	uint8_t current_algorithm = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_ALGORITHM);
+
+	if (current_algorithm == TMC2130_WAVE_ALGORITHM_CONSTANT_TORQUE) {
+		MENU_ITEM_TOGGLE_P(_T(MSG_WAVE_ALGORITHM), _T(MSG_ALGORITHM_CONST_TQ), lcd_tmc2130_wave_algorithm_toggle);
+	} else {
+		MENU_ITEM_TOGGLE_P(_T(MSG_WAVE_ALGORITHM), _T(MSG_ALGORITHM_DEFAULT), lcd_tmc2130_wave_algorithm_toggle);
+	}
+
+	// Unified parameter range (0-200 maps to power factors 1.0-1.2 for both algorithms)
 #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
-	MENU_ITEM_EDIT_int3_P(_T(MSG_X_CORRECTION), &tmc2130_wave_fac[X_AXIS], TMC2130_WAVE_FAC1000_MIN-TMC2130_WAVE_FAC1000_STP, TMC2130_WAVE_FAC1000_MAX);
-	MENU_ITEM_EDIT_int3_P(_T(MSG_Y_CORRECTION), &tmc2130_wave_fac[Y_AXIS], TMC2130_WAVE_FAC1000_MIN-TMC2130_WAVE_FAC1000_STP, TMC2130_WAVE_FAC1000_MAX);
-	MENU_ITEM_EDIT_int3_P(_T(MSG_Z_CORRECTION), &tmc2130_wave_fac[Z_AXIS], TMC2130_WAVE_FAC1000_MIN-TMC2130_WAVE_FAC1000_STP, TMC2130_WAVE_FAC1000_MAX);
+	MENU_ITEM_EDIT_int3_P(_T(MSG_X_CORRECTION), &tmc2130_wave_fac[X_AXIS], TMC2130_WAVE_FAC1000_MIN, TMC2130_WAVE_FAC1000_MAX);
+	MENU_ITEM_EDIT_int3_P(_T(MSG_Y_CORRECTION), &tmc2130_wave_fac[Y_AXIS], TMC2130_WAVE_FAC1000_MIN, TMC2130_WAVE_FAC1000_MAX);
+	MENU_ITEM_EDIT_int3_P(_T(MSG_Z_CORRECTION), &tmc2130_wave_fac[Z_AXIS], TMC2130_WAVE_FAC1000_MIN, TMC2130_WAVE_FAC1000_MAX);
 #endif //TMC2130_LINEARITY_CORRECTION_XYZ
-	MENU_ITEM_EDIT_int3_P(_T(MSG_EXTRUDER_CORRECTION), &tmc2130_wave_fac[E_AXIS], TMC2130_WAVE_FAC1000_MIN-TMC2130_WAVE_FAC1000_STP, TMC2130_WAVE_FAC1000_MAX);
+	MENU_ITEM_EDIT_int3_P(_T(MSG_EXTRUDER_CORRECTION), &tmc2130_wave_fac[E_AXIS], TMC2130_WAVE_FAC1000_MIN, TMC2130_WAVE_FAC1000_MAX);
 	MENU_END();
 }
 #endif // TMC2130
@@ -4543,6 +4556,24 @@ static void lcd_settings_linearity_correction_menu_save() {
     // Re-init the TMC2130 driver to apply changes, if any
     tmc2130_init(TMCInitParams(false, FarmOrUserECool()));
 }
+
+// Toggle between Default and Constant Torque algorithms
+static void lcd_tmc2130_wave_algorithm_toggle() {
+    // Read current algorithm from EEPROM
+    uint8_t current_algorithm = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_ALGORITHM);
+
+    // Toggle to the other algorithm
+    uint8_t new_algorithm = (current_algorithm == TMC2130_WAVE_ALGORITHM_CONSTANT_TORQUE) ?
+                           TMC2130_WAVE_ALGORITHM_DEFAULT : TMC2130_WAVE_ALGORITHM_CONSTANT_TORQUE;
+
+    // Save new algorithm to EEPROM
+    eeprom_update_byte_notify((uint8_t*)EEPROM_TMC2130_WAVE_ALGORITHM, new_algorithm);
+
+    // Immediately reapply wave settings on all axes to enable runtime changes
+    for (uint8_t axis = 0; axis < NUM_AXIS; axis++) {
+        tmc2130_set_wave(axis, 247, tmc2130_wave_fac[axis]);
+    }
+}
 #endif //TMC2130
 
 static void lcd_calibration_menu()
diff --git a/lang/po/Firmware_cs.po b/lang/po/Firmware_cs.po
index ae6ed0964..0a821ebd2 100644
--- a/lang/po/Firmware_cs.po
+++ b/lang/po/Firmware_cs.po
@@ -460,10 +460,25 @@ msgid "Done"
 msgstr "Konec"
 
 #. MSG_EXTRUDER_CORRECTION c=13
-#: ../../Firmware/messages.cpp:319 ../../Firmware/ultralcd.cpp:4014
+#: ../../Firmware/messages.cpp:320 ../../Firmware/ultralcd.cpp:4047
 msgid "E-correct"
 msgstr "Korekce E"
 
+#. MSG_WAVE_ALGORITHM c=13
+#: ../../Firmware/messages.cpp:321
+msgid "Algorithm"
+msgstr "Algoritmus"
+
+#. MSG_ALGORITHM_DEFAULT c=13
+#: ../../Firmware/messages.cpp:322
+msgid "Default"
+msgstr "Vychozi"
+
+#. MSG_ALGORITHM_CONST_TQ c=13
+#: ../../Firmware/messages.cpp:323
+msgid "Const tq"
+msgstr "Konst. mom"
+
 #. MSG_PROGRESS_ERR_HELP_FIL c=20
 #: ../../Firmware/mmu2_progress_converter.cpp:19
 #: ../../Firmware/mmu2_progress_converter.cpp:48
diff --git a/lang/po/Firmware_de.po b/lang/po/Firmware_de.po
index 74be2eaea..733e0818c 100644
--- a/lang/po/Firmware_de.po
+++ b/lang/po/Firmware_de.po
@@ -462,10 +462,25 @@ msgid "Done"
 msgstr "Klar"
 
 #. MSG_EXTRUDER_CORRECTION c=13
-#: ../../Firmware/messages.cpp:319 ../../Firmware/ultralcd.cpp:4014
+#: ../../Firmware/messages.cpp:320 ../../Firmware/ultralcd.cpp:4047
 msgid "E-correct"
 msgstr "E-Korrektur"
 
+#. MSG_WAVE_ALGORITHM c=13
+#: ../../Firmware/messages.cpp:321
+msgid "Algorithm"
+msgstr "Algorithmus"
+
+#. MSG_ALGORITHM_DEFAULT c=13
+#: ../../Firmware/messages.cpp:322
+msgid "Default"
+msgstr "Standard"
+
+#. MSG_ALGORITHM_CONST_TQ c=13
+#: ../../Firmware/messages.cpp:323
+msgid "Const tq"
+msgstr "Konst. Dreh"
+
 #. MSG_PROGRESS_ERR_HELP_FIL c=20
 #: ../../Firmware/mmu2_progress_converter.cpp:19
 #: ../../Firmware/mmu2_progress_converter.cpp:48
diff --git a/lang/po/Firmware_es.po b/lang/po/Firmware_es.po
index cbf04c9bb..741db9ef4 100644
--- a/lang/po/Firmware_es.po
+++ b/lang/po/Firmware_es.po
@@ -460,10 +460,25 @@ msgid "Done"
 msgstr "Listo"
 
 #. MSG_EXTRUDER_CORRECTION c=13
-#: ../../Firmware/messages.cpp:319 ../../Firmware/ultralcd.cpp:4014
+#: ../../Firmware/messages.cpp:320 ../../Firmware/ultralcd.cpp:4047
 msgid "E-correct"
 msgstr "Corregir-E"
 
+#. MSG_WAVE_ALGORITHM c=13
+#: ../../Firmware/messages.cpp:321
+msgid "Algorithm"
+msgstr "Algoritmo"
+
+#. MSG_ALGORITHM_DEFAULT c=13
+#: ../../Firmware/messages.cpp:322
+msgid "Default"
+msgstr "Por defecto"
+
+#. MSG_ALGORITHM_CONST_TQ c=13
+#: ../../Firmware/messages.cpp:323
+msgid "Const tq"
+msgstr "Par const"
+
 #. MSG_PROGRESS_ERR_HELP_FIL c=20
 #: ../../Firmware/mmu2_progress_converter.cpp:19
 #: ../../Firmware/mmu2_progress_converter.cpp:48
diff --git a/lang/po/Firmware_fr.po b/lang/po/Firmware_fr.po
index 599526a3d..cf19bfea4 100644
--- a/lang/po/Firmware_fr.po
+++ b/lang/po/Firmware_fr.po
@@ -463,10 +463,25 @@ msgid "Done"
 msgstr "Fait"
 
 #. MSG_EXTRUDER_CORRECTION c=13
-#: ../../Firmware/messages.cpp:319 ../../Firmware/ultralcd.cpp:4014
+#: ../../Firmware/messages.cpp:320 ../../Firmware/ultralcd.cpp:4047
 msgid "E-correct"
 msgstr "Correct-E"
 
+#. MSG_WAVE_ALGORITHM c=13
+#: ../../Firmware/messages.cpp:321
+msgid "Algorithm"
+msgstr "Algorithme"
+
+#. MSG_ALGORITHM_DEFAULT c=13
+#: ../../Firmware/messages.cpp:322
+msgid "Default"
+msgstr "Defaut"
+
+#. MSG_ALGORITHM_CONST_TQ c=13
+#: ../../Firmware/messages.cpp:323
+msgid "Const tq"
+msgstr "Couple cst"
+
 #. MSG_PROGRESS_ERR_HELP_FIL c=20
 #: ../../Firmware/mmu2_progress_converter.cpp:19
 #: ../../Firmware/mmu2_progress_converter.cpp:48
diff --git a/lang/po/Firmware_hr.po b/lang/po/Firmware_hr.po
index 02b27a9fa..763d99174 100644
--- a/lang/po/Firmware_hr.po
+++ b/lang/po/Firmware_hr.po
@@ -458,10 +458,25 @@ msgid "Done"
 msgstr "Gotov"
 
 #. MSG_EXTRUDER_CORRECTION c=13
-#: ../../Firmware/messages.cpp:319 ../../Firmware/ultralcd.cpp:4014
+#: ../../Firmware/messages.cpp:320 ../../Firmware/ultralcd.cpp:4047
 msgid "E-correct"
 msgstr "E-ispravan"
 
+#. MSG_WAVE_ALGORITHM c=13
+#: ../../Firmware/messages.cpp:321
+msgid "Algorithm"
+msgstr "Algoritam"
+
+#. MSG_ALGORITHM_DEFAULT c=13
+#: ../../Firmware/messages.cpp:322
+msgid "Default"
+msgstr "Zadano"
+
+#. MSG_ALGORITHM_CONST_TQ c=13
+#: ../../Firmware/messages.cpp:323
+msgid "Const tq"
+msgstr "Konst. mom"
+
 #. MSG_PROGRESS_ERR_HELP_FIL c=20
 #: ../../Firmware/mmu2_progress_converter.cpp:19
 #: ../../Firmware/mmu2_progress_converter.cpp:48
diff --git a/lang/po/Firmware_hu.po b/lang/po/Firmware_hu.po
index 04294cc5e..29fbe7ba7 100644
--- a/lang/po/Firmware_hu.po
+++ b/lang/po/Firmware_hu.po
@@ -461,10 +461,25 @@ msgid "Done"
 msgstr "Kesz"
 
 #. MSG_EXTRUDER_CORRECTION c=13
-#: ../../Firmware/messages.cpp:319 ../../Firmware/ultralcd.cpp:4014
+#: ../../Firmware/messages.cpp:320 ../../Firmware/ultralcd.cpp:4047
 msgid "E-correct"
 msgstr "E-korrekcio"
 
+#. MSG_WAVE_ALGORITHM c=13
+#: ../../Firmware/messages.cpp:321
+msgid "Algorithm"
+msgstr "Algoritmus"
+
+#. MSG_ALGORITHM_DEFAULT c=13
+#: ../../Firmware/messages.cpp:322
+msgid "Default"
+msgstr "Alapertelmez"
+
+#. MSG_ALGORITHM_CONST_TQ c=13
+#: ../../Firmware/messages.cpp:323
+msgid "Const tq"
+msgstr "Allando nyom"
+
 #. MSG_PROGRESS_ERR_HELP_FIL c=20
 #: ../../Firmware/mmu2_progress_converter.cpp:19
 #: ../../Firmware/mmu2_progress_converter.cpp:48
diff --git a/lang/po/Firmware_it.po b/lang/po/Firmware_it.po
index 68f368afd..5fef4761b 100644
--- a/lang/po/Firmware_it.po
+++ b/lang/po/Firmware_it.po
@@ -462,10 +462,25 @@ msgid "Done"
 msgstr "Fatto"
 
 #. MSG_EXTRUDER_CORRECTION c=13
-#: ../../Firmware/messages.cpp:319 ../../Firmware/ultralcd.cpp:4014
+#: ../../Firmware/messages.cpp:320 ../../Firmware/ultralcd.cpp:4047
 msgid "E-correct"
 msgstr "Correzione-E"
 
+#. MSG_WAVE_ALGORITHM c=13
+#: ../../Firmware/messages.cpp:321
+msgid "Algorithm"
+msgstr "Algoritmo"
+
+#. MSG_ALGORITHM_DEFAULT c=13
+#: ../../Firmware/messages.cpp:322
+msgid "Default"
+msgstr "Predefinito"
+
+#. MSG_ALGORITHM_CONST_TQ c=13
+#: ../../Firmware/messages.cpp:323
+msgid "Const tq"
+msgstr "Coppia cost"
+
 #. MSG_PROGRESS_ERR_HELP_FIL c=20
 #: ../../Firmware/mmu2_progress_converter.cpp:19
 #: ../../Firmware/mmu2_progress_converter.cpp:48
diff --git a/lang/po/Firmware_nl.po b/lang/po/Firmware_nl.po
index 53f13d97e..6830fc889 100644
--- a/lang/po/Firmware_nl.po
+++ b/lang/po/Firmware_nl.po
@@ -463,10 +463,25 @@ msgid "Done"
 msgstr "Klaar"
 
 #. MSG_EXTRUDER_CORRECTION c=13
-#: ../../Firmware/messages.cpp:319 ../../Firmware/ultralcd.cpp:4014
+#: ../../Firmware/messages.cpp:320 ../../Firmware/ultralcd.cpp:4047
 msgid "E-correct"
 msgstr "E-correctie"
 
+#. MSG_WAVE_ALGORITHM c=13
+#: ../../Firmware/messages.cpp:321
+msgid "Algorithm"
+msgstr "Algoritme"
+
+#. MSG_ALGORITHM_DEFAULT c=13
+#: ../../Firmware/messages.cpp:322
+msgid "Default"
+msgstr "Standaard"
+
+#. MSG_ALGORITHM_CONST_TQ c=13
+#: ../../Firmware/messages.cpp:323
+msgid "Const tq"
+msgstr "Const koppel"
+
 #. MSG_PROGRESS_ERR_HELP_FIL c=20
 #: ../../Firmware/mmu2_progress_converter.cpp:19
 #: ../../Firmware/mmu2_progress_converter.cpp:48
diff --git a/lang/po/Firmware_no.po b/lang/po/Firmware_no.po
index 49e21ab2e..5c6c95325 100644
--- a/lang/po/Firmware_no.po
+++ b/lang/po/Firmware_no.po
@@ -461,10 +461,25 @@ msgid "Done"
 msgstr "Ferdig"
 
 #. MSG_EXTRUDER_CORRECTION c=13
-#: ../../Firmware/messages.cpp:319 ../../Firmware/ultralcd.cpp:4014
+#: ../../Firmware/messages.cpp:320 ../../Firmware/ultralcd.cpp:4047
 msgid "E-correct"
 msgstr "E-korreksjon"
 
+#. MSG_WAVE_ALGORITHM c=13
+#: ../../Firmware/messages.cpp:321
+msgid "Algorithm"
+msgstr "Algoritme"
+
+#. MSG_ALGORITHM_DEFAULT c=13
+#: ../../Firmware/messages.cpp:322
+msgid "Default"
+msgstr "Standard"
+
+#. MSG_ALGORITHM_CONST_TQ c=13
+#: ../../Firmware/messages.cpp:323
+msgid "Const tq"
+msgstr "Konst moment"
+
 #. MSG_PROGRESS_ERR_HELP_FIL c=20
 #: ../../Firmware/mmu2_progress_converter.cpp:19
 #: ../../Firmware/mmu2_progress_converter.cpp:48
diff --git a/lang/po/Firmware_pl.po b/lang/po/Firmware_pl.po
index 1383110b2..ea57902eb 100644
--- a/lang/po/Firmware_pl.po
+++ b/lang/po/Firmware_pl.po
@@ -463,10 +463,25 @@ msgid "Done"
 msgstr "Gotowe"
 
 #. MSG_EXTRUDER_CORRECTION c=13
-#: ../../Firmware/messages.cpp:319 ../../Firmware/ultralcd.cpp:4014
+#: ../../Firmware/messages.cpp:320 ../../Firmware/ultralcd.cpp:4047
 msgid "E-correct"
 msgstr "Korekcja-E"
 
+#. MSG_WAVE_ALGORITHM c=13
+#: ../../Firmware/messages.cpp:321
+msgid "Algorithm"
+msgstr "Algorytm"
+
+#. MSG_ALGORITHM_DEFAULT c=13
+#: ../../Firmware/messages.cpp:322
+msgid "Default"
+msgstr "Domyslny"
+
+#. MSG_ALGORITHM_CONST_TQ c=13
+#: ../../Firmware/messages.cpp:323
+msgid "Const tq"
+msgstr "Staly moment"
+
 #. MSG_PROGRESS_ERR_HELP_FIL c=20
 #: ../../Firmware/mmu2_progress_converter.cpp:19
 #: ../../Firmware/mmu2_progress_converter.cpp:48
diff --git a/lang/po/Firmware_ro.po b/lang/po/Firmware_ro.po
index 2d498aa02..d3026b6a8 100644
--- a/lang/po/Firmware_ro.po
+++ b/lang/po/Firmware_ro.po
@@ -463,10 +463,25 @@ msgid "Done"
 msgstr "Gata"
 
 #. MSG_EXTRUDER_CORRECTION c=13
-#: ../../Firmware/messages.cpp:319 ../../Firmware/ultralcd.cpp:4014
+#: ../../Firmware/messages.cpp:320 ../../Firmware/ultralcd.cpp:4047
 msgid "E-correct"
 msgstr "E-corecție"
 
+#. MSG_WAVE_ALGORITHM c=13
+#: ../../Firmware/messages.cpp:321
+msgid "Algorithm"
+msgstr "Algoritm"
+
+#. MSG_ALGORITHM_DEFAULT c=13
+#: ../../Firmware/messages.cpp:322
+msgid "Default"
+msgstr "Implicit"
+
+#. MSG_ALGORITHM_CONST_TQ c=13
+#: ../../Firmware/messages.cpp:323
+msgid "Const tq"
+msgstr "Cuplu const"
+
 #. MSG_PROGRESS_ERR_HELP_FIL c=20
 #: ../../Firmware/mmu2_progress_converter.cpp:19
 #: ../../Firmware/mmu2_progress_converter.cpp:48
diff --git a/lang/po/Firmware_sk.po b/lang/po/Firmware_sk.po
index d03fcaa2a..7edd67ebf 100644
--- a/lang/po/Firmware_sk.po
+++ b/lang/po/Firmware_sk.po
@@ -460,10 +460,25 @@ msgid "Done"
 msgstr "Hotov"
 
 #. MSG_EXTRUDER_CORRECTION c=13
-#: ../../Firmware/messages.cpp:319 ../../Firmware/ultralcd.cpp:4014
+#: ../../Firmware/messages.cpp:320 ../../Firmware/ultralcd.cpp:4047
 msgid "E-correct"
 msgstr "Korekcia E"
 
+#. MSG_WAVE_ALGORITHM c=13
+#: ../../Firmware/messages.cpp:321
+msgid "Algorithm"
+msgstr "Algoritmus"
+
+#. MSG_ALGORITHM_DEFAULT c=13
+#: ../../Firmware/messages.cpp:322
+msgid "Default"
+msgstr "Predvoleny"
+
+#. MSG_ALGORITHM_CONST_TQ c=13
+#: ../../Firmware/messages.cpp:323
+msgid "Const tq"
+msgstr "Konst. mom"
+
 #. MSG_PROGRESS_ERR_HELP_FIL c=20
 #: ../../Firmware/mmu2_progress_converter.cpp:19
 #: ../../Firmware/mmu2_progress_converter.cpp:48
diff --git a/lang/po/Firmware_sv.po b/lang/po/Firmware_sv.po
index c2e626c88..4b79dfde8 100644
--- a/lang/po/Firmware_sv.po
+++ b/lang/po/Firmware_sv.po
@@ -461,10 +461,25 @@ msgid "Done"
 msgstr "Klar"
 
 #. MSG_EXTRUDER_CORRECTION c=13
-#: ../../Firmware/messages.cpp:319 ../../Firmware/ultralcd.cpp:4014
+#: ../../Firmware/messages.cpp:320 ../../Firmware/ultralcd.cpp:4047
 msgid "E-correct"
 msgstr "E-korrektion"
 
+#. MSG_WAVE_ALGORITHM c=13
+#: ../../Firmware/messages.cpp:321
+msgid "Algorithm"
+msgstr "Algoritm"
+
+#. MSG_ALGORITHM_DEFAULT c=13
+#: ../../Firmware/messages.cpp:322
+msgid "Default"
+msgstr "Standard"
+
+#. MSG_ALGORITHM_CONST_TQ c=13
+#: ../../Firmware/messages.cpp:323
+msgid "Const tq"
+msgstr "Konst moment"
+
 #. MSG_PROGRESS_ERR_HELP_FIL c=20
 #: ../../Firmware/mmu2_progress_converter.cpp:19
 #: ../../Firmware/mmu2_progress_converter.cpp:48