diff --git a/board/safety.h b/board/safety.h
index 966c503e..7a16c906 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -494,6 +494,10 @@ float interpolate(struct lookup_t xy, float x) {
   return ret;
 }
 
+int ROUND(float val) {
+  return val + ((val > 0.0) ? 0.5 : -0.5);
+}
+
 // Safety checks for longitudinal actuation
 bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits) {
   bool accel_valid = get_longitudinal_allowed() && !max_limit_check(desired_accel, limits.max_accel, limits.min_accel);
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
index 867b335d..dafca91e 100644
--- a/board/safety/safety_ford.h
+++ b/board/safety/safety_ford.h
@@ -170,7 +170,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
     // Update vehicle speed
     if (addr == MSG_BrakeSysFeatures) {
       // Signal: Veh_V_ActlBrk
-      update_sample(&vehicle_speed, (((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6 * VEHICLE_SPEED_FACTOR) + 0.5);
+      update_sample(&vehicle_speed, ROUND(((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6 * VEHICLE_SPEED_FACTOR));
     }
 
     // Check vehicle speed against a second source
@@ -189,9 +189,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
       float ford_yaw_rate = (((GET_BYTE(to_push, 2) << 8U) | GET_BYTE(to_push, 3)) * 0.0002) - 6.5;
       float current_curvature = ford_yaw_rate / MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1);
       // convert current curvature into units on CAN for comparison with desired curvature
-      int current_curvature_can = current_curvature * (float)FORD_STEERING_LIMITS.angle_deg_to_can +
-                                  ((current_curvature > 0.) ? 0.5 : -0.5);
-      update_sample(&angle_meas, current_curvature_can);
+      update_sample(&angle_meas, ROUND(current_curvature * (float)FORD_STEERING_LIMITS.angle_deg_to_can));
     }
 
     // Update gas pedal
diff --git a/board/safety/safety_nissan.h b/board/safety/safety_nissan.h
index 1f15e9b1..1f44238e 100644
--- a/board/safety/safety_nissan.h
+++ b/board/safety/safety_nissan.h
@@ -65,7 +65,7 @@ static int nissan_rx_hook(CANPacket_t *to_push) {
         uint16_t right_rear = (GET_BYTE(to_push, 0) << 8) | (GET_BYTE(to_push, 1));
         uint16_t left_rear = (GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3));
         vehicle_moving = (right_rear | left_rear) != 0U;
-        update_sample(&vehicle_speed, ((right_rear + left_rear) / 2.0 * 0.005 / 3.6 * VEHICLE_SPEED_FACTOR) + 0.5);
+        update_sample(&vehicle_speed, ROUND((right_rear + left_rear) / 2.0 * 0.005 / 3.6 * VEHICLE_SPEED_FACTOR));
       }
 
       // X-Trail 0x15c, Leaf 0x239
diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
index de4001bc..484cb841 100644
--- a/board/safety/safety_tesla.h
+++ b/board/safety/safety_tesla.h
@@ -82,7 +82,7 @@ static int tesla_rx_hook(CANPacket_t *to_push) {
         // Vehicle speed: ((0.05 * val) - 25) * MPH_TO_MPS
         float speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
         vehicle_moving = ABS(speed) > 0.1;
-        update_sample(&vehicle_speed, (speed * VEHICLE_SPEED_FACTOR) + 0.5);
+        update_sample(&vehicle_speed, ROUND(speed * VEHICLE_SPEED_FACTOR));
       }
 
       if(addr == (tesla_powertrain ? 0x106 : 0x108)) {
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index a35f653f..393e5546 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -141,6 +141,7 @@ bool driver_limit_check(int val, int val_last, struct sample_t *val_driver,
 bool get_longitudinal_allowed(void);
 bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
 float interpolate(struct lookup_t xy, float x);
+int ROUND(float val);
 void gen_crc_lookup_table_8(uint8_t poly, uint8_t crc_lut[]);
 void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]);
 bool msg_allowed(CANPacket_t *to_send, const CanMsg msg_list[], int len);