diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2efd1a34..ac23bac9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,9 @@ Please add a note of your changes below this heading if you make a Pull Request.
   * Tracking of rotor flux through rotor time constant
   * Automatic d axis current for Maximum Torque Per Amp (MTPA)
 
+### Changed
+* Moved `controller.vel_ramp_enable` into `controller.config`.
+
 # Releases
 ## [0.4.11] - 2019-07-25
 ### Added
diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp
index 70bfb1a0..ea44754a 100644
--- a/Firmware/MotorControl/controller.cpp
+++ b/Firmware/MotorControl/controller.cpp
@@ -128,7 +128,7 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
     }
 
     // Ramp rate limited velocity setpoint
-    if (config_.control_mode == CTRL_MODE_VELOCITY_CONTROL && vel_ramp_enable_) {
+    if (config_.control_mode == CTRL_MODE_VELOCITY_CONTROL && config_.vel_ramp_enable) {
         float max_step_size = current_meas_period * config_.vel_ramp_rate;
         float full_step = vel_ramp_target_ - vel_setpoint_;
         float step;
diff --git a/Firmware/MotorControl/controller.hpp b/Firmware/MotorControl/controller.hpp
index 020f34d0..24842130 100644
--- a/Firmware/MotorControl/controller.hpp
+++ b/Firmware/MotorControl/controller.hpp
@@ -30,6 +30,7 @@ public:
         float vel_integrator_gain = 10.0f / 10000.0f;  // [A/(counts/s * s)]
         float vel_limit = 20000.0f;        // [counts/s]
         float vel_limit_tolerance = 1.2f;  // ratio to vel_lim. 0.0f to disable
+        bool vel_ramp_enable = false;
         float vel_ramp_rate = 10000.0f;  // [(counts/s) / s]
         bool setpoints_in_cpr = false;
     };
@@ -86,7 +87,6 @@ public:
     float vel_integrator_current_ = 0.0f;  // [A]
     float current_setpoint_ = 0.0f;        // [A]
     float vel_ramp_target_ = 0.0f;
-    bool vel_ramp_enable_ = false;
 
     uint32_t traj_start_loop_count_ = 0;
 
@@ -101,7 +101,6 @@ public:
             make_protocol_property("vel_integrator_current", &vel_integrator_current_),
             make_protocol_property("current_setpoint", &current_setpoint_),
             make_protocol_property("vel_ramp_target", &vel_ramp_target_),
-            make_protocol_property("vel_ramp_enable", &vel_ramp_enable_),
             make_protocol_object("config",
                 make_protocol_property("control_mode", &config_.control_mode),
                 make_protocol_property("pos_gain", &config_.pos_gain),
@@ -109,6 +108,7 @@ public:
                 make_protocol_property("vel_integrator_gain", &config_.vel_integrator_gain),
                 make_protocol_property("vel_limit", &config_.vel_limit),
                 make_protocol_property("vel_limit_tolerance", &config_.vel_limit_tolerance),
+                make_protocol_property("vel_ramp_enable", &config_.vel_ramp_enable),
                 make_protocol_property("vel_ramp_rate", &config_.vel_ramp_rate),
                 make_protocol_property("setpoints_in_cpr", &config_.setpoints_in_cpr)
             ),