diff --git a/CHANGELOG.md b/CHANGELOG.md
index 29749eed..3ffb9111 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,7 @@ HEAD
 * Fix `call of overloaded 'String(const char*, int)' is ambiguous`
 * Fix `JsonString` operator `==` and `!=` for non-zero-terminated string
 * Fix `-Wsign-conversion` on GCC 8 (issue #1715)
+* MessagePack: serialize round floats as integers (issue #1718)
 
 v6.19.2 (2022-02-14)
 -------
diff --git a/extras/tests/MsgPackSerializer/serializeVariant.cpp b/extras/tests/MsgPackSerializer/serializeVariant.cpp
index 7817946e..1fd8ba18 100644
--- a/extras/tests/MsgPackSerializer/serializeVariant.cpp
+++ b/extras/tests/MsgPackSerializer/serializeVariant.cpp
@@ -144,4 +144,18 @@ TEST_CASE("serialize MsgPack value") {
     checkVariant(serialized("\xDA\xFF\xFF"), "\xDA\xFF\xFF");
     checkVariant(serialized("\xDB\x00\x01\x00\x00", 5), "\xDB\x00\x01\x00\x00");
   }
+
+  SECTION("serialize round double as integer") {  // Issue #1718
+    checkVariant(-32768.0, "\xD1\x80\x00");
+    checkVariant(-129.0, "\xD1\xFF\x7F");
+    checkVariant(-128.0, "\xD0\x80");
+    checkVariant(-33.0, "\xD0\xDF");
+    checkVariant(-32.0, "\xE0");
+    checkVariant(-1.0, "\xFF");
+    checkVariant(0.0, "\x00");
+    checkVariant(127.0, "\x7F");
+    checkVariant(128.0, "\xCC\x80");
+    checkVariant(255.0, "\xCC\xFF");
+    checkVariant(256.0, "\xCD\x01\x00");
+  }
 }
diff --git a/src/ArduinoJson/MsgPack/MsgPackSerializer.hpp b/src/ArduinoJson/MsgPack/MsgPackSerializer.hpp
index 51e929be..a1053f0a 100644
--- a/src/ArduinoJson/MsgPack/MsgPackSerializer.hpp
+++ b/src/ArduinoJson/MsgPack/MsgPackSerializer.hpp
@@ -23,6 +23,11 @@ class MsgPackSerializer : public Visitor<size_t> {
 
   template <typename T>
   typename enable_if<sizeof(T) == 4, size_t>::type visitFloat(T value32) {
+    if (canConvertNumber<Integer>(value32)) {
+      Integer truncatedValue = Integer(value32);
+      if (value32 == T(truncatedValue))
+        return visitSignedInteger(truncatedValue);
+    }
     writeByte(0xCA);
     writeInteger(value32);
     return bytesWritten();
@@ -32,13 +37,10 @@ class MsgPackSerializer : public Visitor<size_t> {
   ARDUINOJSON_NO_SANITIZE("float-cast-overflow")
   typename enable_if<sizeof(T) == 8, size_t>::type visitFloat(T value64) {
     float value32 = float(value64);
-    if (value32 == value64) {
-      writeByte(0xCA);
-      writeInteger(value32);
-    } else {
-      writeByte(0xCB);
-      writeInteger(value64);
-    }
+    if (value32 == value64)
+      return visitFloat(value32);
+    writeByte(0xCB);
+    writeInteger(value64);
     return bytesWritten();
   }