diff --git a/stm-firmware/pid-controller.c b/stm-firmware/pid-controller.c
index f66efa8..69d69a9 100644
--- a/stm-firmware/pid-controller.c
+++ b/stm-firmware/pid-controller.c
@@ -34,8 +34,8 @@ void pid_init(struct pid_controller *pid, float k_deriv, float k_int, float k_p,
 	pid->k_int = k_int;
 	pid->k_deriv = k_deriv;
 	pid->k_int_t = pid->k_int * pid->sample_period * 0.5f;
-	pid->k_deriv_t = pid->k_deriv * 2.0f / (pid->sample_period + 2 * kd_tau);
-	pid->k_inv_deriv_t = (2 * kd_tau - sample_period) / (2 * kd_tau + sample_period);
+	pid->k_deriv_t = pid->k_deriv * 2.0f / (pid->sample_period + 2.0f * kd_tau);
+	pid->k_inv_deriv_t = (2.0f * kd_tau - sample_period) / (2.0f * kd_tau + sample_period);
 	pid->output_sat_max = output_sat_max;
 	pid->output_sat_min = output_sat_min;
 	pid->integral_max = integral_max;