diff --git a/stm-firmware/pid-controller.c b/stm-firmware/pid-controller.c
index c73d591..583fdae 100644
--- a/stm-firmware/pid-controller.c
+++ b/stm-firmware/pid-controller.c
@@ -29,7 +29,7 @@ void pid_init(struct pid_controller *pid, float k_deriv, float k_int, float k_p,
 	pid->k_p = k_p;
 	pid->k_int = k_int;
 	pid->k_deriv = k_deriv;
-	pid->k_int_t = pid->k_int * pid->sample_period / 2.0f;
+	pid->k_int_t = pid->k_int * pid->sample_period * 0.5f;
 	pid->k_deriv_t = pid->k_deriv * 2.0f / pid->sample_period;
 	pid->output_sat_max = output_sat_max;
 	pid->output_sat_min = output_sat_min;