diff --git a/src/main/main.c b/src/main/main.c
index 3e1919a27d..8402c3e938 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -263,7 +263,7 @@ void init(void)
     pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
     if (feature(FEATURE_3D))
         pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
-    pwm_params.useFastPWM = masterConfig.use_fast_pwm ? true : false;
+    if (pwm_params.motorPwmRate > 500 && !masterConfig.use_fast_pwm)
         pwm_params.idlePulse = 0; // brushed motors
 #ifdef CC3D
     pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;