diff --git a/encoder/encoder.c b/encoder/encoder.c
index eed03612..e6fe88aa 100644
--- a/encoder/encoder.c
+++ b/encoder/encoder.c
@@ -283,6 +283,22 @@ bool encoder_init(volatile mc_configuration *conf) {
 	return res;
 }
 
+void encoder_update_config(volatile mc_configuration *conf) {
+	switch (conf->m_sensor_port_mode) {
+	case SENSOR_PORT_MODE_SINCOS: {
+		encoder_cfg_sincos.s_gain = 1.0 / conf->m_encoder_sin_amp;
+		encoder_cfg_sincos.s_offset = conf->m_encoder_sin_offset;
+		encoder_cfg_sincos.c_gain = 1.0 /conf->m_encoder_cos_amp;
+		encoder_cfg_sincos.c_offset =  conf->m_encoder_cos_offset;
+		encoder_cfg_sincos.filter_constant = conf->m_encoder_sincos_filter_constant;
+		sincosf(DEG2RAD_f(conf->m_encoder_sincos_phase_correction), &encoder_cfg_sincos.sph, &encoder_cfg_sincos.cph);
+	} break;
+
+	default:
+		break;
+	}
+}
+
 void encoder_deinit(void) {
 	nvicDisableVector(HW_ENC_EXTI_CH);
 	nvicDisableVector(HW_ENC_TIM_ISR_CH);
diff --git a/encoder/encoder.h b/encoder/encoder.h
index 42ed9b13..87e9b1e5 100644
--- a/encoder/encoder.h
+++ b/encoder/encoder.h
@@ -36,6 +36,7 @@
 
 // Functions
 bool encoder_init(volatile mc_configuration *conf);
+void encoder_update_config(volatile mc_configuration *conf);
 void encoder_deinit(void);
 
 void encoder_set_custom_callbacks (
diff --git a/motor/mc_interface.c b/motor/mc_interface.c
index 607235e8..bd7f3d37 100644
--- a/motor/mc_interface.c
+++ b/motor/mc_interface.c
@@ -309,6 +309,8 @@ void mc_interface_set_configuration(mc_configuration *configuration) {
 	if (motor->m_conf.m_sensor_port_mode != configuration->m_sensor_port_mode) {
 		encoder_deinit();
 		encoder_init(configuration);
+	} else {
+		encoder_update_config(configuration);
 	}
 
 #ifdef HW_HAS_DRV8301