diff --git a/stm-firmware/pid-controller.c b/stm-firmware/pid-controller.c
index b41f0f6..463008f 100644
--- a/stm-firmware/pid-controller.c
+++ b/stm-firmware/pid-controller.c
@@ -73,13 +73,13 @@ float pid_sample(struct pid_controller *pid, float deviation)
 	float output;
 
 	if (!pid)
-		return 0.0;
+		return 0.0f;
 
 	output = deviation * pid->k_p;
 
 	/* PID runaway compensation */
-	if (!(deviation > 0.0f && pid->control_output > pid->output_sat_max - 0.5) &&
-	    !(deviation < 0.0f && pid->control_output < pid->output_sat_min + 0.5)) {
+	if (!(deviation > 0.0f && pid->control_output > pid->output_sat_max - 0.5f) &&
+	    !(deviation < 0.0f && pid->control_output < pid->output_sat_min + 0.5f)) {
 		calculate_integral(pid, deviation);
 	}