diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index dcb1bbf9..72986105 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -3,7 +3,7 @@
 
 
 Encoder::Encoder(const EncoderHardwareConfig_t& hw_config,
-                Config_t& config, Motor::Config_t motor_config) :
+                Config_t& config, const Motor::Config_t& motor_config) :
         hw_config_(hw_config),
         config_(config)
 {
diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp
index 872bf810..28830c38 100644
--- a/Firmware/MotorControl/encoder.hpp
+++ b/Firmware/MotorControl/encoder.hpp
@@ -56,7 +56,7 @@ public:
     };
 
     Encoder(const EncoderHardwareConfig_t& hw_config,
-            Config_t& config, Motor::Config_t motor_config);
+            Config_t& config, const Motor::Config_t& motor_config);
     
     void setup();
     void set_error(Error_t error);
diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
index a596c8b2..f49d02d6 100644
--- a/Firmware/MotorControl/main.cpp
+++ b/Firmware/MotorControl/main.cpp
@@ -242,7 +242,7 @@ int odrive_main(void) {
         axes[i]->setup();
     }
 
-    for(auto axis : axes){
+    for(auto& axis : axes){
         axis->encoder_.setup();
     }