

Desire may be defined as “a longing, an urge, or a craving, as for something that brings satisfaction or enjoyment”
For example, a desire for fame. Or, a sexual appetite.
An Impulse may be understood as: A sudden, involuntary inclination prompting to action: This inclination is often due to the influence of a particular mental state. [One may, for example, act from a generous impulse, or strike out at someone from an angry impulses] …with thanks to dictionary.com.
The two concepts may be related to one another; one may be swayed by an impulse to feed one’s appetites due to harboring a desire.

Moral health is enhanced by impulse-control, that is, by considering long-term as well as short-term effects. To live an ethical life is to enjoy a high degree of moral health.

To find fault with others is not the ethical way to live. Neither is it ethical to blame, to name-call, to play the victim, to deride, to defraud. To overgeneralize is another cognitive error that reduces one’s moral health. To believe oneself superior to another human being is an ethical fallacy: a cognition such as, “I’m a somebody, and you are a nobody” would be a cognitive liability, an ethical mistake.
To violate Ethics is to lack moral health, or have it but to a low degree. To rate "Excellent" on the H.V. P. (the Hartman Value Profile); or [the way Axiogenics consultants score it] to have it reveal that you neither over-value yourself and the world, nor do you under-value them, is to display (at that moment in time) a high degree of Moral Health.
I have here introduced an original concept;which may serve to upgrade existing Ethical Theories.
Let's discuss it. I'd love to hear your views on these matters.
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1) See also, Daniel P. Thero - Understanding Moral Weakness.