diff --git a/firmware/controllers/sensors/redundant_sensor.cpp b/firmware/controllers/sensors/redundant_sensor.cpp
index cd9f50290b..49e9cc793b 100644
--- a/firmware/controllers/sensors/redundant_sensor.cpp
+++ b/firmware/controllers/sensors/redundant_sensor.cpp
@@ -37,33 +37,39 @@ SensorResult RedundantSensor::get() const {
 		return UnexpectedCode::Inconsistent;
 	}
 
-	float sensor2Value = sensor2.Value;
+	if (m_secondMaximum >= 100) {
+		// Sensor is fully redundant
 
-	// Partial redundancy; useful for some sensors: e.g. Ford and Toyota ETCS-i
-	if (m_secondMaximum < 100) {
-		// scale the second sensor value accordingly, proportioning to the first sensor
-		sensor2Value *= m_secondMaximum / 100;
+		float delta = absF(sensor1.Value - sensor2.Value);
+		if (delta <= m_maxDifference) {
+			// All is well: sensors are valid and values check out, return the average value
+			return (sensor1.Value + sensor2.Value) / 2;
+		}
+	} else {
+		// Sensor is partially redundant; useful for some sensors: e.g. Ford and Toyota ETCS-i
 
 		// The partial redundancy threshold, slightly less than 100% to avoid issues near full-range
-		float threshold = m_secondMaximum * 0.95;
+		float threshold = m_secondMaximum * 0.95f;
+
+		// Scale the second sensor value accordingly, proportioning to the first sensor
+		float scaledSecond = sensor2.Value * m_secondMaximum / 100;
 
 		// Check second sensor is below partial redundancy switch-over threshold
-		if (sensor2Value > threshold) {
-			if (sensor1.Value >= threshold - m_maxDifference) {
+		if (scaledSecond <= threshold) {
+			float delta = absF(sensor1.Value - scaledSecond);
+			if (delta <= m_maxDifference) {
+				// All is well: sensors are valid and values check out, return the primary value
+				return sensor1.Value;
+			}
+		} else {
+			// Check first sensor is at or above partial redundancy switch-over threshold
+			if (sensor1.Value >= m_secondMaximum - m_maxDifference) {
+				// All is well: sensors are valid and values check out, return the primary value
 				return sensor1.Value;
 			}
-
-			// There's a discrepancy: first sensor is out of compliance, return inconsistency error
-			return UnexpectedCode::Inconsistent;
 		}
 	}
 
-	float delta = absF(sensor1.Value - sensor2Value);
-	if (delta <= m_maxDifference) {
-		// All is well: sensors are valid and values check out
-		return (sensor1.Value + sensor2Value) / 2;
-	}
-
 	// Any other condition indacates an unexpected discrepancy, return inconsistency error
 	return UnexpectedCode::Inconsistent;
 }