diff --git a/sw/airborne/firmwares/rotorcraft/actuators/supervision.c b/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
index ad4cc13edf..6d96d6c0e6 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
@@ -64,7 +64,7 @@
  * [SUPERVISION_MIN_MOTOR,SUPERVISION_MAX_MOTOR]
  * or sets it to SUPERVISION_STOP_MOTOR
  */
-#define SUPERVISION_CMD_SCALE (((float)(SUPERVISION_MAX_MOTOR - SUPERVISION_MIN_MOTOR) / MAX_PPRZ) /SUPERVISION_SCALE)
+#define SUPERVISION_CMD_SCALE (SUPERVISION_MAX_MOTOR - SUPERVISION_MIN_MOTOR) / (MAX_PPRZ * SUPERVISION_SCALE)
 
 static const int32_t roll_coef[SUPERVISION_NB_MOTOR]   = SUPERVISION_ROLL_COEF;
 static const int32_t pitch_coef[SUPERVISION_NB_MOTOR]  = SUPERVISION_PITCH_COEF;