diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c
index acc7e37d26..2762be675c 100755
--- a/src/main/navigation/navigation_multicopter.c
+++ b/src/main/navigation/navigation_multicopter.c
@@ -140,11 +140,11 @@ bool adjustMulticopterAltitudeFromRCInput(void)
             // Make sure we can satisfy max_manual_climb_rate in both up and down directions
             if (rcThrottleAdjustment > 0) {
                 // Scaling from altHoldThrottleRCZero to maxthrottle
-                rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (motorConfig()->maxthrottle - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
+                rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (float)(motorConfig()->maxthrottle - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
             }
             else {
                 // Scaling from minthrottle to altHoldThrottleRCZero
-                rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (altHoldThrottleRCZero - motorConfig()->minthrottle - rcControlsConfig()->alt_hold_deadband);
+                rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (float)(altHoldThrottleRCZero - motorConfig()->minthrottle - rcControlsConfig()->alt_hold_deadband);
             }
 
             updateClimbRateToAltitudeController(rcClimbRate, ROC_TO_ALT_NORMAL);
@@ -387,8 +387,8 @@ bool adjustMulticopterPositionFromRCInput(int16_t rcPitchAdjustment, int16_t rcR
     if (rcPitchAdjustment || rcRollAdjustment) {
         // If mode is GPS_CRUISE, move target position, otherwise POS controller will passthru the RC input to ANGLE PID
         if (navConfig()->general.flags.user_control_mode == NAV_GPS_CRUISE) {
-            const float rcVelX = rcPitchAdjustment * navConfig()->general.max_manual_speed / (500 - rcControlsConfig()->pos_hold_deadband);
-            const float rcVelY = rcRollAdjustment * navConfig()->general.max_manual_speed / (500 - rcControlsConfig()->pos_hold_deadband);
+            const float rcVelX = rcPitchAdjustment * navConfig()->general.max_manual_speed / (float)(500 - rcControlsConfig()->pos_hold_deadband);
+            const float rcVelY = rcRollAdjustment * navConfig()->general.max_manual_speed / (float)(500 - rcControlsConfig()->pos_hold_deadband);
 
             // Rotate these velocities from body frame to to earth frame
             const float neuVelX = rcVelX * posControl.actualState.cosYaw - rcVelY * posControl.actualState.sinYaw;