diff --git a/src/lib/Characteristic.spec.ts b/src/lib/Characteristic.spec.ts
index 8c26ac0b5..7a1b4b483 100644
--- a/src/lib/Characteristic.spec.ts
+++ b/src/lib/Characteristic.spec.ts
@@ -1094,6 +1094,35 @@ describe("Characteristic", () => {
       expect(mock).toBeCalledTimes(0);
     });
 
+    it("should validate Formats.FLOAT with precision with minimum steps", () => {
+      const steps = (100 / 6);
+      const characteristic = createCharacteristicWithProps({
+        format: Formats.FLOAT,
+        perms: [Perms.PAIRED_READ, Perms.PAIRED_WRITE],
+        minValue: 0,
+        maxValue: 100,
+        minStep: steps,
+      });
+
+      characteristic.setValue(steps);
+      expect(characteristic.value).toEqual(steps);
+
+      characteristic.setValue(steps * 2);
+      expect(characteristic.value).toEqual(steps * 2);
+
+      characteristic.setValue(steps * 3);
+      expect(characteristic.value).toEqual(steps * 3);
+
+      characteristic.setValue(steps * 4);
+      expect(characteristic.value).toEqual(steps * 4);
+
+      characteristic.setValue(steps * 5);
+      expect(characteristic.value).toEqual(steps * 5);
+
+      characteristic.setValue(steps * 6);
+      expect(characteristic.value).toEqual(steps * 6);
+    });
+
     it("should allow negative floats in range for Formats.FLOAT", () => {
       const characteristic = createCharacteristicWithProps({
         format: Formats.FLOAT,
diff --git a/src/lib/Characteristic.ts b/src/lib/Characteristic.ts
index 630269cf5..08b82795a 100644
--- a/src/lib/Characteristic.ts
+++ b/src/lib/Characteristic.ts
@@ -2071,8 +2071,9 @@ export class Characteristic extends EventEmitter {
         if (stepValue === 1) {
           value = Math.round(value);
         } else if (stepValue > 1) {
+          const eps = 1; // stable constant for floating point precision
           value = Math.round(value);
-          value = value - (value % stepValue);
+          value = value - ((value + eps) % stepValue) + eps;
         } // for stepValue < 1 rounding is done only when formatting the response. We can't store the "perfect" .step anyways
       }