diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c
index fce2f70d9..87f07e079 100644
--- a/flight/Modules/CameraStab/camerastab.c
+++ b/flight/Modules/CameraStab/camerastab.c
@@ -154,14 +154,15 @@ static void attitudeUpdated(UAVObjEvent* ev)
 					break;
 				case CAMERASTABSETTINGS_STABILIZATIONMODE_AXISLOCK:
 					input_rate = accessory.AccessoryVal * cameraStab.InputRate[i];
-					if (abs(input_rate) > cameraStab.MaxAxisLockRate)
+					if (fabs(input_rate) > cameraStab.MaxAxisLockRate)
 						csd->inputs[i] = bound(csd->inputs[i] + input_rate * csd->dT / 1000.0f, cameraStab.InputRange[i]);
 					break;
 				default:
 					PIOS_Assert(0);
 				}
-				csd->inputs_filtered[i] = (cameraStab.ResponseTime[i] / (cameraStab.ResponseTime[i] + csd->dT)) * csd->inputs_filtered[i]
-							+ (csd->dT / (cameraStab.ResponseTime[i] + csd->dT)) * csd->inputs[i];
+				float rt = (float)cameraStab.ResponseTime[i];
+				csd->inputs_filtered[i] = (rt / (rt + csd->dT)) * csd->inputs_filtered[i]
+							+ (csd->dT / (rt + csd->dT)) * csd->inputs[i];
 			}
 		}
 	}
diff --git a/shared/uavobjectdefinition/camerastabsettings.xml b/shared/uavobjectdefinition/camerastabsettings.xml
index 27ba09536..3208b9f24 100644
--- a/shared/uavobjectdefinition/camerastabsettings.xml
+++ b/shared/uavobjectdefinition/camerastabsettings.xml
@@ -4,7 +4,7 @@
         <field name="Inputs" units="channel" type="enum" elementnames="Roll,Pitch,Yaw" options="Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5,,None" defaultvalue="None"/>
         <field name="InputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
         <field name="InputRate" units="deg/s" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="50"/>
-        <field name="ResponseTime" units="ms" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150"/>
+        <field name="ResponseTime" units="ms" type="uint16" elementnames="Roll,Pitch,Yaw" defaultvalue="150"/>
         <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="Attitude,AxisLock" defaultvalue="Attitude"/>
         <field name="MaxAxisLockRate" units="deg/s" type="float" elements="1" defaultvalue="1"/>
         <field name="OutputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>