diff --git a/Firmware/MotorControl/endstop.cpp b/Firmware/MotorControl/endstop.cpp
index 72bcae3a..f8fc4480 100644
--- a/Firmware/MotorControl/endstop.cpp
+++ b/Firmware/MotorControl/endstop.cpp
@@ -43,7 +43,7 @@ void Endstop::set_enabled(bool enable) {
             GPIO_InitTypeDef GPIO_InitStruct;
             GPIO_InitStruct.Pin = gpio_pin;
             GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-            GPIO_InitStruct.Pull = config_.is_active_high ? GPIO_PULLDOWN : GPIO_PULLUP;
+            GPIO_InitStruct.Pull = config_.pullup ? GPIO_PULLUP : GPIO_PULLDOWN;
             HAL_GPIO_Init(gpio_port, &GPIO_InitStruct);
         }
     }
diff --git a/Firmware/MotorControl/endstop.hpp b/Firmware/MotorControl/endstop.hpp
index ad9ef5ef..eb1e3c8e 100644
--- a/Firmware/MotorControl/endstop.hpp
+++ b/Firmware/MotorControl/endstop.hpp
@@ -4,14 +4,15 @@
 class Endstop {
    public:
     struct Config_t {
-        float offset      = 0;
+        float offset = 0;
         float debounce_ms = 50.0f;
         uint16_t gpio_num = 0;
-        bool enabled        = false;
+        bool enabled = false;
         bool is_active_high = false;
+        bool pullup = false;
     };
 
-    Endstop(Endstop::Config_t& config);
+    explicit Endstop(Endstop::Config_t& config);
 
     Endstop::Config_t& config_;
     Axis* axis_ = nullptr;
@@ -34,6 +35,7 @@ class Endstop {
                                     [](void* ctx) { static_cast<Endstop*>(ctx)->update_config(); }, this),
                 make_protocol_property("offset", &config_.offset),
                 make_protocol_property("is_active_high", &config_.is_active_high),
+                make_protocol_property("pullup", &config_.pullup),
                 make_protocol_property("debounce_ms", &config_.debounce_ms)));
     }