diff --git a/src/drv_pwm.c b/src/drv_pwm.c
index 6a0c7e2c84..5ff9d8b311 100755
--- a/src/drv_pwm.c
+++ b/src/drv_pwm.c
@@ -354,7 +354,7 @@ bool pwmInit(drv_pwm_config_t *init)
             pwmInConfig(port, pwmCallback, numInputs);
             numInputs++;
         } else if (mask & TYPE_M) {
-            motors[numMotors++] = pwmOutConfig(port, 1000000 / init->motorPwmRate, PULSE_1MS);
+            motors[numMotors++] = pwmOutConfig(port, 1000000 / init->motorPwmRate, init->idlePulse > 0 ? init->idlePulse : PULSE_1MS);
         } else if (mask & TYPE_S) {
             servos[numServos++] = pwmOutConfig(port, 1000000 / init->servoPwmRate, PULSE_1MS);
         }
diff --git a/src/drv_pwm.h b/src/drv_pwm.h
index 728ac8eec3..491ee93b89 100755
--- a/src/drv_pwm.h
+++ b/src/drv_pwm.h
@@ -15,6 +15,8 @@ typedef struct drv_pwm_config_t {
     uint8_t adcChannel;  // steal one RC input for current sensor
     uint16_t motorPwmRate;
     uint16_t servoPwmRate;
+    uint16_t idlePulse;  // PWM value to use when initializing the driver;
+                         // default of zero means PULSE_1MS, otherwise set to given value. Used by 3D mode.
     uint16_t failsafeThreshold;
 } drv_pwm_config_t;
 
diff --git a/src/main.c b/src/main.c
index 3b471e3c31..d5f8f5f45c 100755
--- a/src/main.c
+++ b/src/main.c
@@ -67,6 +67,7 @@ int main(void)
     pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX;
     pwm_params.motorPwmRate = mcfg.motor_pwm_rate;
     pwm_params.servoPwmRate = mcfg.servo_pwm_rate;
+    pwm_params.idlePulse = feature(FEATURE_3D) ? mcfg.neutral3d : 0;
     pwm_params.failsafeThreshold = cfg.failsafe_detect_threshold;
     switch (mcfg.power_adc_channel) {
         case 1: