diff --git a/klippy/stepcompress.c b/klippy/stepcompress.c
index 761c16c2..87f5a45f 100644
--- a/klippy/stepcompress.c
+++ b/klippy/stepcompress.c
@@ -533,21 +533,16 @@ stepcompress_push_const(
 // Schedule steps using delta kinematics
 static int32_t
 _stepcompress_push_delta(
-    struct stepcompress *sc, double clock_offset, double move_sd
-    , double start_sv, double accel
+    struct stepcompress *sc, int sdir
+    , double clock_offset, double move_sd, double start_sv, double accel
     , double height, double startxy_sd, double arm_sd, double movez_r)
 {
     // Calculate number of steps to take
-    double step_dist = 1.;
-    if (move_sd < 0) {
-        step_dist = -1.;
-        move_sd = -move_sd;
-    }
     double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.;
     double arm_sd2 = arm_sd * arm_sd;
     double endxy_sd = startxy_sd - movexy_r*move_sd;
     double end_height = safe_sqrt(arm_sd2 - endxy_sd*endxy_sd);
-    int count = (end_height + movez_r*move_sd - height) * step_dist + .5;
+    int count = (end_height + movez_r*move_sd - height) * (sdir ? 1. : -1.) + .5;
     if (count <= 0 || count > 10000000) {
         if (count) {
             errorf("push_delta invalid count %d %d %f %f %f %f %f %f %f %f"
@@ -557,15 +552,15 @@ _stepcompress_push_delta(
         }
         return 0;
     }
-    int ret = set_next_step_dir(sc, step_dist > 0.);
+    int ret = set_next_step_dir(sc, sdir);
     if (ret)
         return ret;
-    int res = step_dist > 0. ? count : -count;
+    int res = sdir ? count : -count;
 
     // Calculate each step time
     clock_offset += 0.5;
+    height += (sdir ? .5 : -.5);
     double start_pos = movexy_r*startxy_sd;
-    height += .5 * step_dist;
     uint64_t *qn = sc->queue_next, *qend = sc->queue_end;
     if (!accel) {
         // Move at constant velocity (zero acceleration)
@@ -577,20 +572,20 @@ _stepcompress_push_delta(
                 if (ret)
                     return ret;
                 double v = safe_sqrt(arm_sd2 - height*height);
-                double pos = start_pos + (step_dist > 0. ? -v : v);
+                double pos = start_pos + (sdir ? -v : v);
                 *qn++ = clock_offset + pos * inv_cruise_sv;
-                height += step_dist;
+                height += (sdir ? 1. : -1.);
             }
         } else if (!movexy_r) {
             // Optmized case for Z only moves
-            double v = (step_dist > 0. ? -end_height : end_height);
+            double v = (sdir ? -end_height : end_height);
             while (count--) {
                 int ret = check_expand(sc, &qn, &qend);
                 if (ret)
                     return ret;
                 double pos = start_pos + movez_r*height + v;
                 *qn++ = clock_offset + pos * inv_cruise_sv;
-                height += step_dist;
+                height += (sdir ? 1. : -1.);
             }
         } else {
             // General case (handles XY+Z moves)
@@ -600,9 +595,9 @@ _stepcompress_push_delta(
                     return ret;
                 double relheight = movexy_r*height - movez_r*startxy_sd;
                 double v = safe_sqrt(arm_sd2 - relheight*relheight);
-                double pos = start_pos + movez_r*height + (step_dist > 0. ? -v : v);
+                double pos = start_pos + movez_r*height + (sdir ? -v : v);
                 *qn++ = clock_offset + pos * inv_cruise_sv;
-                height += step_dist;
+                height += (sdir ? 1. : -1.);
             }
         }
     } else {
@@ -617,10 +612,10 @@ _stepcompress_push_delta(
                 return ret;
             double relheight = movexy_r*height - movez_r*startxy_sd;
             double v = safe_sqrt(arm_sd2 - relheight*relheight);
-            double pos = start_pos + movez_r*height + (step_dist > 0. ? -v : v);
+            double pos = start_pos + movez_r*height + (sdir ? -v : v);
             v = safe_sqrt(pos * accel_multiplier);
             *qn++ = clock_offset + (accel_multiplier >= 0. ? v : -v);
-            height += step_dist;
+            height += (sdir ? 1. : -1.);
         }
     }
     sc->queue_next = qn;
@@ -637,22 +632,22 @@ stepcompress_push_delta(
     if (reversexy_sd <= 0.)
         // All steps are in down direction
         return _stepcompress_push_delta(
-            sc, clock_offset, -move_sd, start_sv, accel
+            sc, 0, clock_offset, move_sd, start_sv, accel
             , height, startxy_sd, arm_sd, movez_r);
     double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.;
     if (reversexy_sd >= move_sd * movexy_r)
         // All steps are in up direction
         return _stepcompress_push_delta(
-            sc, clock_offset, move_sd, start_sv, accel
+            sc, 1, clock_offset, move_sd, start_sv, accel
             , height, startxy_sd, arm_sd, movez_r);
     // Steps in both up and down direction
     int res1 = _stepcompress_push_delta(
-        sc, clock_offset, reversexy_sd / movexy_r, start_sv, accel
+        sc, 1, clock_offset, reversexy_sd / movexy_r, start_sv, accel
         , height, startxy_sd, arm_sd, movez_r);
     if (res1 == ERROR_RET)
         return res1;
     int res2 = _stepcompress_push_delta(
-        sc, clock_offset, -move_sd, start_sv, accel
+        sc, 0, clock_offset, move_sd, start_sv, accel
         , height + res1, startxy_sd, arm_sd, movez_r);
     if (res2 == ERROR_RET)
         return res2;