diff --git a/firmware/controller/src/commands/commands.cpp b/firmware/controller/src/commands/commands.cpp
index fdab2a570..262fa525c 100644
--- a/firmware/controller/src/commands/commands.cpp
+++ b/firmware/controller/src/commands/commands.cpp
@@ -132,11 +132,11 @@ void callback_configure_stage_pid()
         tmc4361A_init_PID(&tmc4361[axis], 25, 25, axes_pid_arg[axis].p, axes_pid_arg[axis].i, axes_pid_arg[axis].d, tmc4361A_vmmToMicrosteps(&tmc4361[axis], MAX_VELOCITY_Z_mm), 4096, 2);
     else if (axis == w) {
         if (enable_filterwheel == true)
-            tmc4361A_init_PID(&tmc4361[axis], 2, 2, axes_pid_arg[axis].p, axes_pid_arg[axis].i, axes_pid_arg[axis].d, tmc4361A_vmmToMicrosteps(&tmc4361[axis], MAX_VELOCITY_W_mm), 4096, 2);
+            tmc4361A_init_PID(&tmc4361[axis], 20, 20, axes_pid_arg[axis].p, axes_pid_arg[axis].i, axes_pid_arg[axis].d, tmc4361A_vmmToMicrosteps(&tmc4361[axis], MAX_VELOCITY_W_mm), 4096, 2);
     }
     else if (axis == w2) {
         if (enable_filterwheel_w2 == true)
-            tmc4361A_init_PID(&tmc4361[axis], 2, 2, axes_pid_arg[axis].p, axes_pid_arg[axis].i, axes_pid_arg[axis].d, tmc4361A_vmmToMicrosteps(&tmc4361[axis], MAX_VELOCITY_W_mm), 4096, 2);
+            tmc4361A_init_PID(&tmc4361[axis], 20, 20, axes_pid_arg[axis].p, axes_pid_arg[axis].i, axes_pid_arg[axis].d, tmc4361A_vmmToMicrosteps(&tmc4361[axis], MAX_VELOCITY_W_mm), 4096, 2);
     }
 }
 
diff --git a/software/squid/filter_wheel_controller/cephla.py b/software/squid/filter_wheel_controller/cephla.py
index d332c9e48..e13ce1e22 100644
--- a/software/squid/filter_wheel_controller/cephla.py
+++ b/software/squid/filter_wheel_controller/cephla.py
@@ -120,7 +120,8 @@ def _configure_wheel(self, wheel_id: int, config: SquidFilterWheelConfig):
         if HAS_ENCODER_W:
             self.microcontroller.set_pid_arguments(axis, PID_P_W, PID_I_W, PID_D_W)
             self.microcontroller.configure_stage_pid(axis, config.transitions_per_revolution, ENCODER_FLIP_DIR_W)
-            self.microcontroller.turn_on_stage_pid(axis, ENABLE_PID_W)
+            if ENABLE_PID_W:
+                self.microcontroller.turn_on_stage_pid(axis)
 
     @staticmethod
     def _delta_to_usteps(delta_mm: float) -> int:
diff --git a/software/tests/squid/test_filter_wheel.py b/software/tests/squid/test_filter_wheel.py
index 9ed8da461..99ffa5161 100644
--- a/software/tests/squid/test_filter_wheel.py
+++ b/software/tests/squid/test_filter_wheel.py
@@ -4,6 +4,7 @@
 
 import squid.config
 import squid.filter_wheel_controller.utils
+from control._def import AXIS
 from squid.config import FilterWheelConfig, FilterWheelControllerVariant, SquidFilterWheelConfig
 from squid.filter_wheel_controller.cephla import SquidFilterWheel
 
@@ -120,14 +121,33 @@ def test_normal_init_calls_mcu_initialization(self, mock_microcontroller, squid_
         mock_microcontroller.init_filter_wheel.assert_called_once()
         mock_microcontroller.configure_squidfilter.assert_called_once()
 
+    @pytest.mark.parametrize(
+        "motor_slot,expected_axis",
+        [pytest.param(3, AXIS.W, id="W"), pytest.param(4, AXIS.W2, id="W2")],
+    )
     @patch("squid.filter_wheel_controller.cephla.HAS_ENCODER_W", True)
-    def test_normal_init_configures_encoder_pid(self, mock_microcontroller, squid_config):
-        """skip_init=False with HAS_ENCODER_W=True should configure encoder PID."""
-        SquidFilterWheel(mock_microcontroller, squid_config, skip_init=False)
+    @patch("squid.filter_wheel_controller.cephla.ENABLE_PID_W", True)
+    def test_normal_init_configures_encoder_pid(self, mock_microcontroller, motor_slot, expected_axis):
+        """HAS_ENCODER_W=True + ENABLE_PID_W=True should configure and engage PID."""
+        config = _make_squid_config(motor_slot=motor_slot)
+        SquidFilterWheel(mock_microcontroller, config, skip_init=False)
+
+        mock_microcontroller.set_pid_arguments.assert_called_once()
+        mock_microcontroller.configure_stage_pid.assert_called_once()
+        # turn_on_stage_pid takes axis only — passing extra args would TypeError.
+        mock_microcontroller.turn_on_stage_pid.assert_called_once_with(expected_axis)
+
+    @pytest.mark.parametrize("motor_slot", [3, 4], ids=["W", "W2"])
+    @patch("squid.filter_wheel_controller.cephla.HAS_ENCODER_W", True)
+    @patch("squid.filter_wheel_controller.cephla.ENABLE_PID_W", False)
+    def test_encoder_without_pid_skips_turn_on(self, mock_microcontroller, motor_slot):
+        """HAS_ENCODER_W=True + ENABLE_PID_W=False configures encoder but leaves PID off."""
+        config = _make_squid_config(motor_slot=motor_slot)
+        SquidFilterWheel(mock_microcontroller, config, skip_init=False)
 
         mock_microcontroller.set_pid_arguments.assert_called_once()
         mock_microcontroller.configure_stage_pid.assert_called_once()
-        mock_microcontroller.turn_on_stage_pid.assert_called_once()
+        mock_microcontroller.turn_on_stage_pid.assert_not_called()
 
 
 class TestSquidFilterWheelAbsoluteMove: