diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 8b2f4c20..03735ce0 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -423,6 +423,10 @@ bool Axis::run_homing() {
 
     // Set the current position to 0, the target to zero, and make sure we're path planning from 0 to 0
     encoder_.set_linear_count(0); 
+    const auto load_encoder_axis = controller_.config_.load_encoder_axis;
+    if(load_encoder_axis != axis_num_ && load_encoder_axis < AXIS_COUNT) {
+        axes[load_encoder_axis].encoder_.set_linear_count(0);
+    }
     controller_.input_pos_ = 0.0f;
     controller_.pos_setpoint_ = 0.0f;
     controller_.vel_setpoint_ = 0.0f;
diff --git a/Firmware/communication/can/can_simple.cpp b/Firmware/communication/can/can_simple.cpp
index 064ab294..c7143700 100644
--- a/Firmware/communication/can/can_simple.cpp
+++ b/Firmware/communication/can/can_simple.cpp
@@ -237,8 +237,8 @@ bool CANSimple::get_encoder_estimates_callback(const Axis& axis) {
     txmsg.isExt = axis.config_.can.is_extended;
     txmsg.len = 8;
 
-    can_setSignal<float>(txmsg, axis.encoder_.pos_estimate_.any().value_or(0.0f), 0, 32, true);
-    can_setSignal<float>(txmsg, axis.encoder_.vel_estimate_.any().value_or(0.0f), 32, 32, true);
+    can_setSignal<float>(txmsg, axis.controller_.pos_estimate_linear_src_.any().value_or(0.0f), 0, 32, true);
+    can_setSignal<float>(txmsg, axis.controller_.vel_estimate_src_.any().value_or(0.0f), 32, 32, true);
 
     return canbus_->send_message(txmsg);
 }