diff --git a/src/main/drivers/pwm_output_dshot.c b/src/main/drivers/pwm_output_dshot.c
index 8bd18a2864..580bf8b908 100644
--- a/src/main/drivers/pwm_output_dshot.c
+++ b/src/main/drivers/pwm_output_dshot.c
@@ -116,7 +116,7 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
         RCC_ClockCmd(timerRCC(timer), ENABLE);
         TIM_Cmd(timer, DISABLE);
 
-        TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)((timerClock(timer) / getDshotHz(pwmProtocolType)) - 1);
+        TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)(lrintf((float) timerClock(timer) / getDshotHz(pwmProtocolType) + 0.01f) - 1);
         TIM_TimeBaseStructure.TIM_Period = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
         TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
         TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
diff --git a/src/main/drivers/pwm_output_dshot_hal.c b/src/main/drivers/pwm_output_dshot_hal.c
index bfdb3db83e..15c4cb9cf8 100644
--- a/src/main/drivers/pwm_output_dshot_hal.c
+++ b/src/main/drivers/pwm_output_dshot_hal.c
@@ -108,7 +108,7 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
     RCC_ClockCmd(timerRCC(timer), ENABLE);
 
     motor->TimHandle.Instance = timerHardware->tim;
-    motor->TimHandle.Init.Prescaler = (timerClock(timer) / getDshotHz(pwmProtocolType)) - 1;
+    motor->TimHandle.Init.Prescaler = lrintf((float) timerClock(timer) / getDshotHz(pwmProtocolType) + 0.01f) - 1;
     motor->TimHandle.Init.Period = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
     motor->TimHandle.Init.RepetitionCounter = 0;
     motor->TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;