diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 2def243011..d065eefcee 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -313,7 +313,7 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
 #endif
 
         /* standard PWM outputs */
-        const unsigned pwmRateHz = useUnsyncedPwm ? motorConfig->motorPwmRate : ceilf(1 / (sMin + sLen));
+        const unsigned pwmRateHz = useUnsyncedPwm ? motorConfig->motorPwmRate : ceilf(1 / (sMin + sLen * 2));
 
         const uint32_t clock = timerClock(timerHardware->tim);
         /* used to find the desired timer frequency for max resolution */