diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 0cf13549..49605017 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -39,9 +39,8 @@ bool Encoder::do_checks(){
 // Triggered when an encoder passes over the "Index" pin
 // TODO: only arm index edge interrupt when we know encoder has powered up
 // (maybe by attaching the interrupt on start search, synergistic with following)
-// TODO: disable interrupt once we found the index
 void Encoder::enc_index_cb() {
-    if (config_.use_index && !index_found_) {
+    if (config_.use_index) {
         set_circular_count(0, false);
         if (config_.zero_count_on_find_idx)
             set_linear_count(0); // Avoid position control transient after search
@@ -71,6 +70,23 @@ void Encoder::set_idx_subscribe(bool override_enable) {
     }
 }
 
+void Encoder::update_pll_gains() {
+    pll_kp_ = 2.0f * config_.bandwidth;  // basic conversion to discrete time
+    pll_ki_ = 0.25f * (pll_kp_ * pll_kp_); // Critically damped
+
+    // Check that we don't get problems with discrete time approximation
+    if (!(current_meas_period * pll_kp_ < 1.0f)) {
+        set_error(ERROR_UNSTABLE_GAIN);
+    }
+}
+
+void Encoder::check_pre_calibrated() {
+    if (!is_ready_)
+        config_.pre_calibrated = false;
+    if (config_.mode == MODE_INCREMENTAL && !index_found_)
+        config_.pre_calibrated = false;
+}
+
 // Function that sets the current encoder count to a desired 32-bit value.
 void Encoder::set_linear_count(int32_t count) {
     // Disable interrupts to make a critical section to avoid race condition
@@ -261,16 +277,6 @@ static bool decode_hall(uint8_t hall_state, int32_t* hall_cnt) {
     }
 }
 
-void Encoder::update_pll_gains() {
-    pll_kp_ = 2.0f * config_.bandwidth;  // basic conversion to discrete time
-    pll_ki_ = 0.25f * (pll_kp_ * pll_kp_); // Critically damped
-
-    // Check that we don't get problems with discrete time approximation
-    if (!(current_meas_period * pll_kp_ < 1.0f)) {
-        set_error(ERROR_UNSTABLE_GAIN);
-    }
-}
-
 void Encoder::sample_now() {
     switch (config_.mode) {
         case MODE_INCREMENTAL: {
diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp
index dff98f28..b3a0e3bd 100644
--- a/Firmware/MotorControl/encoder.hpp
+++ b/Firmware/MotorControl/encoder.hpp
@@ -52,6 +52,8 @@ public:
 
     void enc_index_cb();
     void set_idx_subscribe(bool override_enable = false);
+    void update_pll_gains();
+    void check_pre_calibrated();
 
     void set_linear_count(int32_t count);
     void set_circular_count(int32_t count, bool update_offset);
@@ -63,7 +65,7 @@ public:
     void sample_now();
     bool update();
 
-    void update_pll_gains();
+
 
     const EncoderHardwareConfig_t& hw_config_;
     Config_t& config_;
@@ -92,8 +94,8 @@ public:
     auto make_protocol_definitions() {
         return make_protocol_member_list(
             make_protocol_property("error", &error_),
-            make_protocol_ro_property("is_ready", &is_ready_),
-            make_protocol_ro_property("index_found", const_cast<bool*>(&index_found_)),
+            make_protocol_property("is_ready", &is_ready_),
+            make_protocol_property("index_found", const_cast<bool*>(&index_found_)),
             make_protocol_property("shadow_count", &shadow_count_),
             make_protocol_property("count_in_cpr", &count_in_cpr_),
             make_protocol_property("interpolation", &interpolation_),
@@ -110,7 +112,8 @@ public:
                     [](void* ctx) { static_cast<Encoder*>(ctx)->set_idx_subscribe(); }, this),
                 make_protocol_property("find_idx_on_lockin_only", &config_.find_idx_on_lockin_only,
                     [](void* ctx) { static_cast<Encoder*>(ctx)->set_idx_subscribe(); }, this),
-                make_protocol_property("pre_calibrated", &config_.pre_calibrated),
+                make_protocol_property("pre_calibrated", &config_.pre_calibrated,
+                    [](void* ctx) { static_cast<Encoder*>(ctx)->check_pre_calibrated(); }, this),
                 make_protocol_property("zero_count_on_find_idx", &config_.zero_count_on_find_idx),
                 make_protocol_property("cpr", &config_.cpr),
                 make_protocol_property("offset", &config_.offset),