diff --git a/src/main/fc/tasks.c b/src/main/fc/tasks.c
index 972b09bee5..2de90bf05f 100644
--- a/src/main/fc/tasks.c
+++ b/src/main/fc/tasks.c
@@ -325,7 +325,7 @@ task_id_t task_ids[TASK_COUNT] = {
 #endif
 
 #ifdef USE_STACK_CHECK
-    [TASK_STACK_CHECK] = DEFINE_TASK("STACKCHECK", NULL, NULL, taskStackCheck, TASK_PERIOD_HZ(10), TASK_PRIORITY_IDLE),
+    [TASK_STACK_CHECK] = DEFINE_TASK("STACKCHECK", NULL, NULL, taskStackCheck, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOWEST),
 #endif
 
     [TASK_GYRO] = DEFINE_TASK("GYRO", NULL, NULL, taskGyroSample, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
@@ -375,7 +375,7 @@ task_id_t task_ids[TASK_COUNT] = {
 #endif
 
 #ifdef USE_BST
-    [TASK_BST_MASTER_PROCESS] = DEFINE_TASK("BST_MASTER_PROCESS", NULL, NULL, taskBstMasterProcess, TASK_PERIOD_HZ(50), TASK_PRIORITY_IDLE),
+    [TASK_BST_MASTER_PROCESS] = DEFINE_TASK("BST_MASTER_PROCESS", NULL, NULL, taskBstMasterProcess, TASK_PERIOD_HZ(50), TASK_PRIORITY_LOWEST),
 #endif
 
 #ifdef USE_ESC_SENSOR
@@ -387,7 +387,7 @@ task_id_t task_ids[TASK_COUNT] = {
 #endif
 
 #ifdef USE_VTX_CONTROL
-    [TASK_VTXCTRL] = DEFINE_TASK("VTXCTRL", NULL, NULL, vtxUpdate, TASK_PERIOD_HZ(5), TASK_PRIORITY_IDLE),
+    [TASK_VTXCTRL] = DEFINE_TASK("VTXCTRL", NULL, NULL, vtxUpdate, TASK_PERIOD_HZ(5), TASK_PRIORITY_LOWEST),
 #endif
 
 #ifdef USE_RCDEVICE
@@ -395,23 +395,23 @@ task_id_t task_ids[TASK_COUNT] = {
 #endif
 
 #ifdef USE_CAMERA_CONTROL
-    [TASK_CAMCTRL] = DEFINE_TASK("CAMCTRL", NULL, NULL, taskCameraControl, TASK_PERIOD_HZ(5), TASK_PRIORITY_IDLE),
+    [TASK_CAMCTRL] = DEFINE_TASK("CAMCTRL", NULL, NULL, taskCameraControl, TASK_PERIOD_HZ(5), TASK_PRIORITY_LOWEST),
 #endif
 
 #ifdef USE_ADC_INTERNAL
-    [TASK_ADC_INTERNAL] = DEFINE_TASK("ADCINTERNAL", NULL, NULL, adcInternalProcess, TASK_PERIOD_HZ(1), TASK_PRIORITY_IDLE),
+    [TASK_ADC_INTERNAL] = DEFINE_TASK("ADCINTERNAL", NULL, NULL, adcInternalProcess, TASK_PERIOD_HZ(1), TASK_PRIORITY_LOWEST),
 #endif
 
 #ifdef USE_PINIOBOX
-    [TASK_PINIOBOX] = DEFINE_TASK("PINIOBOX", NULL, NULL, pinioBoxUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_IDLE),
+    [TASK_PINIOBOX] = DEFINE_TASK("PINIOBOX", NULL, NULL, pinioBoxUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOWEST),
 #endif
 
 #ifdef USE_RANGEFINDER
-    [TASK_RANGEFINDER] = DEFINE_TASK("RANGEFINDER", NULL, NULL, taskUpdateRangefinder, TASK_PERIOD_HZ(10), TASK_PRIORITY_IDLE),
+    [TASK_RANGEFINDER] = DEFINE_TASK("RANGEFINDER", NULL, NULL, taskUpdateRangefinder, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOWEST),
 #endif
 
 #ifdef USE_CRSF_V3
-    [TASK_SPEED_NEGOTIATION] = DEFINE_TASK("SPEED_NEGOTIATION", NULL, NULL, speedNegotiationProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_IDLE),
+    [TASK_SPEED_NEGOTIATION] = DEFINE_TASK("SPEED_NEGOTIATION", NULL, NULL, speedNegotiationProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOWEST),
 #endif
 };
 
@@ -573,3 +573,4 @@ void tasksInit(void)
     setTaskEnabled(TASK_SPEED_NEGOTIATION, useCRSF);
 #endif
 }
+
diff --git a/src/main/scheduler/scheduler.h b/src/main/scheduler/scheduler.h
index 45436be9d7..fb379acba0 100644
--- a/src/main/scheduler/scheduler.h
+++ b/src/main/scheduler/scheduler.h
@@ -56,8 +56,8 @@
 
 typedef enum {
     TASK_PRIORITY_REALTIME = -1, // Task will be run outside the scheduler logic
-    TASK_PRIORITY_IDLE = 0,      // Disables dynamic scheduling, task is executed only if no other task is active this cycle
-    TASK_PRIORITY_LOW = 1,
+    TASK_PRIORITY_LOWEST = 1,
+    TASK_PRIORITY_LOW = 2,
     TASK_PRIORITY_MEDIUM = 3,
     TASK_PRIORITY_MEDIUM_HIGH = 4,
     TASK_PRIORITY_HIGH = 5,