diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
index 38b3155b..39115713 100644
--- a/Firmware/MotorControl/motor.cpp
+++ b/Firmware/MotorControl/motor.cpp
@@ -150,8 +150,7 @@ float Motor::get_inverter_temp() {
     return horner_fma(normalized_voltage, thermistor_poly_coeffs, thermistor_num_coeffs);
 }
 
-bool Motor::update_thermal_limits() {
-    float fet_temp = get_inverter_temp();
+bool Motor::update_thermal_limits(float fet_temp) {
     float temp_margin = config_.inverter_temp_limit_upper - fet_temp;
     float derating_range = config_.inverter_temp_limit_upper - config_.inverter_temp_limit_lower;
     thermal_current_lim_ = config_.current_lim * (temp_margin / derating_range);
@@ -170,7 +169,8 @@ bool Motor::do_checks() {
         set_error(ERROR_DRV_FAULT);
         return false;
     }
-    if (!update_thermal_limits()) {
+    inverter_temp_ = get_inverter_temp();
+    if (!update_thermal_limits(inverter_temp_)) {
         //error already set in function
         return false;
     }
diff --git a/Firmware/MotorControl/motor.hpp b/Firmware/MotorControl/motor.hpp
index 3714ea9a..5d493437 100644
--- a/Firmware/MotorControl/motor.hpp
+++ b/Firmware/MotorControl/motor.hpp
@@ -125,7 +125,7 @@ public:
     void set_error(Error_t error);
     bool do_checks();
     float get_inverter_temp();
-    bool update_thermal_limits();
+    bool update_thermal_limits(float fet_temp);
     float effective_current_lim();
     void log_timing(TimingLog_t log_idx);
     float phase_current_from_adcval(uint32_t ADCValue);
@@ -187,6 +187,7 @@ public:
     DRV8301_FaultType_e drv_fault_ = DRV8301_FaultType_NoFault;
     DRV_SPI_8301_Vars_t gate_driver_regs_; //Local view of DRV registers (initialized by DRV8301_setup)
     float thermal_current_lim_ = 10.0f;  //[A]
+    float inverter_temp_ = 20.0f;
 
     // Communication protocol definitions
     auto make_protocol_definitions() {
@@ -200,7 +201,7 @@ public:
             make_protocol_property("DC_calib_phC", &DC_calib_.phC),
             make_protocol_property("phase_current_rev_gain", &phase_current_rev_gain_),
             make_protocol_ro_property("thermal_current_lim", &thermal_current_lim_),
-            make_protocol_function("get_inverter_temp", *this, &Motor::get_inverter_temp),
+            make_protocol_ro_property("inverter_temp", &inverter_temp_),
             make_protocol_object("current_control",
                 make_protocol_property("p_gain", &current_control_.p_gain),
                 make_protocol_property("i_gain", &current_control_.i_gain),