diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 80987c00..41a125e4 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -28,7 +28,7 @@ Axis::Axis(const AxisHardwareConfig_t& hw_config,
     trap_.axis_ = this;
 
     decode_step_dir_pins();
-    update_watchdog_settings();
+    watchdog_feed();
 }
 
 static void step_cb_wrapper(void* ctx) {
@@ -89,21 +89,6 @@ void Axis::decode_step_dir_pins() {
     dir_pin_ = get_gpio_pin_by_pin(config_.dir_gpio_pin);
 }
 
-// @brief: Setup the watchdog reset value from the configuration watchdog timeout interval. 
-void Axis::update_watchdog_settings() {
-
-    if(config_.watchdog_timeout <= 0.0f) { // watchdog disabled 
-        watchdog_reset_value_ = 0;
-    } else if(config_.watchdog_timeout >= UINT32_MAX / (current_meas_hz+1)) { //overflow! 
-        watchdog_reset_value_ = UINT32_MAX;
-    } else {
-        watchdog_reset_value_ = static_cast<uint32_t>(config_.watchdog_timeout * current_meas_hz);
-    }
-
-    // Do a feed to avoid instant timeout
-    watchdog_feed();
-}
-
 // @brief (de)activates step/dir input
 void Axis::set_step_dir_active(bool active) {
     if (active) {
@@ -159,16 +144,16 @@ bool Axis::do_updates() {
 
 // @brief Feed the watchdog to prevent watchdog timeouts.
 void Axis::watchdog_feed() {
-    watchdog_current_value_ = watchdog_reset_value_;
+    watchdog_current_value_ = get_watchdog_reset();
 }
 
-// @brief Check the watchdog timer for expiration. Also sets the watchdog error bit if expired. 
+// @brief Check the watchdog timer for expiration. Also sets the watchdog error bit if expired.
 bool Axis::watchdog_check() {
-    // reset value = 0 means watchdog disabled. 
-    if(watchdog_reset_value_ == 0) return true;
+    // reset value = 0 means watchdog disabled.
+    if (get_watchdog_reset() == 0) return true;
 
     // explicit check here to ensure that we don't underflow back to UINT32_MAX
-    if(watchdog_current_value_ > 0) {
+    if (watchdog_current_value_ > 0) {
         watchdog_current_value_--;
         return true;
     } else {
diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp
index 9e78fdab..e72f7232 100644
--- a/Firmware/MotorControl/axis.hpp
+++ b/Firmware/MotorControl/axis.hpp
@@ -181,6 +181,10 @@ public:
     bool run_closed_loop_control_loop();
     bool run_idle_loop();
 
+    constexpr uint32_t get_watchdog_reset() {
+        return static_cast<uint32_t>(std::clamp<float>(config_.watchdog_timeout, 0, UINT32_MAX / (current_meas_hz + 1)) * current_meas_hz);
+    }
+
     void run_state_machine_loop();
 
     const AxisHardwareConfig_t& hw_config_;
@@ -212,7 +216,6 @@ public:
     LockinState_t lockin_state_ = LOCKIN_STATE_INACTIVE;
 
     // watchdog
-    uint32_t watchdog_reset_value_ = 0; //computed from config_.watchdog_timeout in update_watchdog_settings()
     uint32_t watchdog_current_value_= 0;
 
     // Communication protocol definitions
@@ -232,8 +235,7 @@ public:
                 make_protocol_property("startup_sensorless_control", &config_.startup_sensorless_control),
                 make_protocol_property("enable_step_dir", &config_.enable_step_dir),
                 make_protocol_property("counts_per_step", &config_.counts_per_step),
-                make_protocol_property("watchdog_timeout", &config_.watchdog_timeout,
-                    [](void* ctx) { static_cast<Axis*>(ctx)->update_watchdog_settings(); }, this),
+                make_protocol_property("watchdog_timeout", &config_.watchdog_timeout),
                 make_protocol_property("step_gpio_pin", &config_.step_gpio_pin,
                     [](void* ctx) { static_cast<Axis*>(ctx)->decode_step_dir_pins(); }, this),
                 make_protocol_property("dir_gpio_pin", &config_.dir_gpio_pin,