diff --git a/Firmware/MotorControl/endstop.cpp b/Firmware/MotorControl/endstop.cpp
index df4f65eb..b9730984 100644
--- a/Firmware/MotorControl/endstop.cpp
+++ b/Firmware/MotorControl/endstop.cpp
@@ -12,11 +12,11 @@ static void endstop_cb_wrapper(void* ctx){
 void Endstop::update() {
     if (config_.enabled) {
         float now = axis_->loop_counter_ * current_meas_period;
-        if((now - debounce_timer_) >= config_.debounce_ms) {                        // Debounce timer expired, take the new pin state
-            endstop_state_ = config_.is_active_high ? pin_state_ : !pin_state_;     // endstop_state is the logical state
-            debounce_timer_ = now - config_.debounce_ms;                            // Ensure timer doesn't have overflow issues
+        if ((now - debounce_timer_) >= (config_.debounce_ms * 0.001)) {          // Debounce timer expired, take the new pin state
+            endstop_state_ = config_.is_active_high ? pin_state_ : !pin_state_;  // endstop_state is the logical state
+            debounce_timer_ = now - (config_.debounce_ms * 0.001);               // Ensure timer doesn't have overflow issues
         } else {
-            endstop_state_ = endstop_state_; // Do nothing
+            endstop_state_ = endstop_state_;  // Do nothing
         }
     } else {
         endstop_state_ = false;