diff --git a/locales/en/messages.json b/locales/en/messages.json
index bd4d4ae7..5a00b43c 100644
--- a/locales/en/messages.json
+++ b/locales/en/messages.json
@@ -1290,6 +1290,9 @@
     "configurationDigitalIdlePercent": {
         "message": "Motor Idle Throttle Value [percent]"
     },
+    "configurationDigitalIdlePercentDisabled": {
+        "message": "Motor Idle Throttle Value % is disabled because Dynamic Idle is enabled with value at {{dynamicIdle}}rpm in PID tuning tab"
+    },
     "configurationDigitalIdlePercentHelp": {
         "message": "The 'DShot idle' value is the percent of maximum throttle that is sent to the ESCs when the throttle at minimum stick position and the craft is armed. Increase it to gain more idle speed and avoid desyncs.  Too high and the craft feels floaty."
     },
@@ -4096,6 +4099,9 @@
     "pidTuningIdleMinRpmHelp": {
         "message": "Dynamic Idle improves control at low rpm and reduces risk of motor desyncs. It corrects problems caused by airflow speeding up or slowing down the props, improving PID authority, stability, motor braking and responsiveness. The Dynamic Idle rpm should be set to be about 20% below the rpm of your Dshot Idle value (see the $t(tabMotorTesting.message) tab). Usually there is no need to change your DShot idle value from defaults. For longer inverted hang time, DShot idle value and Minimum rpm should be lowered together.<br /><br />Visit <a href=\"https://github.com/betaflight/betaflight/wiki/Tuning-Dynamic-Idle\"target=\"_blank\" rel=\"noopener noreferrer\">this wiki entry</a> for more info."
     },
+    "pidTuningIdleMinRpmDisabled": {
+        "message": "Dynamic Idle is disabled as Dshot Telemetry is disabled"
+    },
     "pidTuningAcroTrainerAngleLimit": {
         "message": "Acro Trainer Angle Limit"
     },
diff --git a/src/js/tabs/motors.js b/src/js/tabs/motors.js
index 3e0dfeb4..2f9bba5e 100644
--- a/src/js/tabs/motors.js
+++ b/src/js/tabs/motors.js
@@ -61,6 +61,7 @@ TABS.motors.initialize = function (callback) {
     }
 
     MSP.promise(MSPCodes.MSP_STATUS)
+    .then(() => MSP.promise(MSPCodes.MSP_PID_ADVANCED))
     .then(() => MSP.promise(MSPCodes.MSP_FEATURE_CONFIG))
     .then(() => MSP.promise(MSPCodes.MSP_MIXER_CONFIG))
     .then(() => FC.MOTOR_CONFIG.use_dshot_telemetry || FC.MOTOR_CONFIG.use_esc_sensor ? MSP.promise(MSPCodes.MSP_MOTOR_TELEMETRY) : true)
@@ -735,6 +736,16 @@ TABS.motors.initialize = function (callback) {
             divUnsyncedPWMFreq.toggle(protocolConfigured && !digitalProtocol);
 
             $('div.digitalIdlePercent').toggle(protocolConfigured && digitalProtocol);
+
+            $('input[name="digitalIdlePercent"]').prop('disabled', protocolConfigured && digitalProtocol && FC.ADVANCED_TUNING.idleMinRpm && FC.MOTOR_CONFIG.use_dshot_telemetry);
+
+            if (FC.ADVANCED_TUNING.idleMinRpm && FC.MOTOR_CONFIG.use_dshot_telemetry) {
+                const dynamicIdle = FC.ADVANCED_TUNING.idleMinRpm * 100;
+                $('span.digitalIdlePercentDisabled').text(i18n.getMessage('configurationDigitalIdlePercentDisabled', { dynamicIdle }));
+            } else {
+                $('span.digitalIdlePercentDisabled').text(i18n.getMessage('configurationDigitalIdlePercent'));
+            }
+
             $('.escSensor').toggle(protocolConfigured && digitalProtocol);
 
             $('div.checkboxDshotBidir').toggle(protocolConfigured && semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42) && digitalProtocol);
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
index 025a4c6f..9c50bd37 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -454,7 +454,13 @@ TABS.pid_tuning.initialize = function (callback) {
         if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
             $('.pid_tuning input[name="motorLimit"]').val(FC.ADVANCED_TUNING.motorOutputLimit);
             $('.pid_tuning input[name="cellCount"]').val(FC.ADVANCED_TUNING.autoProfileCellCount);
-            $('input[name="idleMinRpm-number"]').val(FC.ADVANCED_TUNING.idleMinRpm);
+            $('input[name="idleMinRpm-number"]').val(FC.ADVANCED_TUNING.idleMinRpm).prop('disabled', !FC.MOTOR_CONFIG.use_dshot_telemetry);
+
+            if (FC.MOTOR_CONFIG.use_dshot_telemetry) {
+                $('span.pidTuningIdleMinRpmDisabled').text(i18n.getMessage('pidTuningIdleMinRpm'));
+            } else {
+                $('span.pidTuningIdleMinRpmDisabled').text(i18n.getMessage('pidTuningIdleMinRpmDisabled'));
+            }
         } else {
             $('.motorOutputLimit').hide();
             $('.idleMinRpm').hide();
diff --git a/src/tabs/motors.html b/src/tabs/motors.html
index 72946afd..6a3e1bdf 100644
--- a/src/tabs/motors.html
+++ b/src/tabs/motors.html
@@ -105,9 +105,9 @@
                                         <div class="numberspacer">
                                             <input type="number" name="digitalIdlePercent" min="0.00" max="20.00" step="0.01"/>
                                         </div>
-                                        <span i18n="configurationDigitalIdlePercent"></span>
+                                        <span class="digitalIdlePercentDisabled"></span>
+                                        <div class="helpicon cf_tip" i18n_title="configurationDigitalIdlePercentHelp"></div>
                                     </label>
-                                    <div class="helpicon cf_tip" i18n_title="configurationDigitalIdlePercentHelp"></div>
                                 </div>
                                 <div class="number minthrottle">
                                     <label>
diff --git a/src/tabs/pid_tuning.html b/src/tabs/pid_tuning.html
index e11f2bec..8385513e 100644
--- a/src/tabs/pid_tuning.html
+++ b/src/tabs/pid_tuning.html
@@ -686,7 +686,7 @@
                                 <td colspan="2">
                                     <div>
                                         <label>
-                                            <span i18n="pidTuningIdleMinRpm"></span>
+                                            <span class="pidTuningIdleMinRpmDisabled"></span>
                                         </label>
                                         <div class="helpicon cf_tip" i18n_title="pidTuningIdleMinRpmHelp"></div>
                                     </div>