diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 2f9931e95a..441f64835e 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -673,8 +673,11 @@ FAST_CODE uint16_t prepareDshotPacket(motorDmaOutput_t *const motor)
         csum ^=  csum_data;   // xor data by nibbles
         csum_data >>= 4;
     }
-    csum &= 0xf;
     // append checksum
+    if (useDshotTelemetry) {
+        csum = ~csum;
+    }
+    csum &= 0xf;
     packet = (packet << 4) | csum;
 
     return packet;
diff --git a/src/main/drivers/pwm_output_dshot.c b/src/main/drivers/pwm_output_dshot.c
index b68e359607..6a23638a89 100644
--- a/src/main/drivers/pwm_output_dshot.c
+++ b/src/main/drivers/pwm_output_dshot.c
@@ -269,14 +269,12 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
     const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
 
     uint8_t pupMode = 0;
+    pupMode = (output & TIMER_OUTPUT_INVERTED) ? GPIO_PuPd_DOWN : GPIO_PuPd_UP;
 #ifdef USE_DSHOT_TELEMETRY
-    if (!useDshotTelemetry) {
-        pupMode = (output & TIMER_OUTPUT_INVERTED) ? GPIO_PuPd_DOWN : GPIO_PuPd_UP;
-    } else
-#endif
-    {
-        pupMode = (output & TIMER_OUTPUT_INVERTED) ? GPIO_PuPd_UP : GPIO_PuPd_DOWN;
+    if (useDshotTelemetry) {
+        output ^= TIMER_OUTPUT_INVERTED;
     }
+#endif
 
     IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, pupMode), timerHardware->alternateFunction);
 
diff --git a/src/main/drivers/pwm_output_dshot_shared.c b/src/main/drivers/pwm_output_dshot_shared.c
index 0f6f4bbe66..4510767bb4 100644
--- a/src/main/drivers/pwm_output_dshot_shared.c
+++ b/src/main/drivers/pwm_output_dshot_shared.c
@@ -150,7 +150,7 @@ static uint16_t decodeDshotPacket(uint32_t buffer[])
     csum = csum ^ (csum >> 8); // xor bytes
     csum = csum ^ (csum >> 4); // xor nibbles
 
-    if (csum & 0xf) {
+    if ((csum & 0xf) != 0) {
         return 0xffff;
     }
     return value >> 4;
@@ -176,7 +176,7 @@ static uint16_t decodeProshotPacket(uint32_t buffer[])
     csum = csum ^ (csum >> 8); // xor bytes
     csum = csum ^ (csum >> 4); // xor nibbles
 
-    if (csum & 0xf) {
+    if ((csum & 0xf) != 0) {
         return 0xffff;
     }
     return value >> 4;