diff --git a/PID.c b/PID.c
index 877c32d..b1847e6 100644
--- a/PID.c
+++ b/PID.c
@@ -47,8 +47,8 @@ float PIDController_Update(PIDController *pid, float setpoint, float measurement
 	/*
 	* Derivative (band-limited differentiator)
 	*/
-		
-    pid->differentiator = -(2.0f * pid->Kd * (measurement - pid->prevMeasurement)	/* Note: derivative on measurement, therefore minus sign in front of equation! */
+    /* Note: derivative on measurement, therefore minus sign in front of equation! */
+    pid->differentiator = (-(2.0f * pid->Kd * (measurement - pid->prevMeasurement))
                         + (2.0f * pid->tau - pid->T) * pid->differentiator)
                         / (2.0f * pid->tau + pid->T);