diff --git a/foc_math.c b/foc_math.c
index c24f1b08d..25ab59151 100644
--- a/foc_math.c
+++ b/foc_math.c
@@ -613,7 +613,7 @@ void foc_precalc_values(motor_all_state_t *motor) {
 	const mc_configuration *conf_now = motor->m_conf;
 	motor->p_lq = conf_now->foc_motor_l + conf_now->foc_motor_ld_lq_diff * 0.5;
 	motor->p_ld = conf_now->foc_motor_l - conf_now->foc_motor_ld_lq_diff * 0.5;
-	motor->p_inv_ld_lq = (1.0 / motor->p_lq - 1.0 / motor->p_ld);
+	motor->p_inv_inv_ld_lq = 1.0 / (1.0 / motor->p_lq - 1.0 / motor->p_ld);
 
 	motor->p_inv_lo_current_max = 1.0 / conf_now->lo_current_max;
 
diff --git a/foc_math.h b/foc_math.h
index 8e1d2cd8a..6d1e1f9bd 100644
--- a/foc_math.h
+++ b/foc_math.h
@@ -191,7 +191,7 @@ typedef struct {
 	// Pre-calculated values
 	float p_lq;
 	float p_ld;
-	float p_inv_ld_lq; // (1.0/lq - 1.0/ld)
+	float p_inv_inv_ld_lq; // 1.0 / (1.0/lq - 1.0/ld)
 	float p_v2_v3_inv_avg_half; // (0.5/ld + 0.5/lq)
 	float p_inv_lo_current_max;
 } motor_all_state_t;
diff --git a/mcpwm_foc.c b/mcpwm_foc.c
index ae68270ca..8d2f914ed 100644
--- a/mcpwm_foc.c
+++ b/mcpwm_foc.c
@@ -3848,7 +3848,7 @@ static void control_current(motor_all_state_t *motor, float dt) {
 					}
 #endif
 					foc_hfi_adjust_angle(
-							(di * conf_now->foc_f_zv) / (hfi_voltage * motor->p_inv_ld_lq),
+							((di * conf_now->foc_f_zv) / hfi_voltage) * motor->p_inv_inv_ld_lq,
 							motor, hfi_dt
 					);
 				}
@@ -3900,7 +3900,7 @@ static void control_current(motor_all_state_t *motor, float dt) {
 #endif
 					foc_hfi_adjust_angle(
 							motor->m_hfi.sign_last_sample * ((conf_now->foc_f_zv * di) /
-									hfi_voltage - motor->p_v2_v3_inv_avg_half) / motor->p_inv_ld_lq,
+									hfi_voltage - motor->p_v2_v3_inv_avg_half) * motor->p_inv_inv_ld_lq,
 							motor, hfi_dt
 					);
 				}