diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index c8fbc251..4f98ec6a 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -76,7 +76,7 @@ void Axis::StateMachineLoop() {
         }
 
         // give some time to lower priority threads
-        osDelay(100);
+        osDelay(2);
     }
     legacy_motor_ref_->thread_ready = false;
 }
\ No newline at end of file
diff --git a/Firmware/MotorControl/low_level.c b/Firmware/MotorControl/low_level.c
index a2f8ee90..459f89ca 100644
--- a/Firmware/MotorControl/low_level.c
+++ b/Firmware/MotorControl/low_level.c
@@ -68,7 +68,7 @@ Motor_t motors[] = {
         // .calibration_ok = false,
         .motor_timer = &htim1,
         .next_timings = {TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2},
-        .control_deadline = (3*TIM_1_8_PERIOD_CLOCKS)/2,
+        .control_deadline = TIM_1_8_PERIOD_CLOCKS,
         .last_cpu_time = 0,
         .current_meas = {0.0f, 0.0f},
         .DC_calib = {0.0f, 0.0f},