diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index cfa333db7a..d1b732d13a 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1474,6 +1474,10 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("vbat_sag_compensation", "%d",           currentPidProfile->vbat_sag_compensation);
 #endif
 
+#if defined(USE_DYN_IDLE)
+        BLACKBOX_PRINT_HEADER_LINE("dynamic_idle_offset", "%d",             currentPidProfile->idle_min_rpm ? lrintf(getDynamicIdleOffset()) : 0);
+#endif
+
         default:
             return true;
     }
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index b5aa884da8..79fd6eb9be 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -65,8 +65,6 @@
 #define DYN_LPF_THROTTLE_STEPS           100
 #define DYN_LPF_THROTTLE_UPDATE_DELAY_US 5000 // minimum of 5ms between updates
 
-#define RC_COMMAND_THROTTLE_RANGE (PWM_RANGE_MAX - PWM_RANGE_MIN)
-
 static FAST_DATA_ZERO_INIT float motorMixRange;
 
 float FAST_DATA_ZERO_INIT motor[MAX_SUPPORTED_MOTORS];
@@ -227,7 +225,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
             const float pidSum = constrainf(mixerRuntime.idleP * error, -currentPidProfile->idle_pid_limit, currentPidProfile->idle_pid_limit);
             motorRangeMinIncrease = constrainf(motorRangeMinIncrease + pidSum * pidGetDT(), 0.0f, maxIncrease);
             mixerRuntime.oldMinRps = minRps;
-            throttle += mixerRuntime.idleThrottleOffset * RC_COMMAND_THROTTLE_RANGE;
+            throttle += mixerRuntime.idleThrottleOffset;
 
             DEBUG_SET(DEBUG_DYN_IDLE, 0, motorRangeMinIncrease * 1000);
             DEBUG_SET(DEBUG_DYN_IDLE, 1, targetRpsChangeRate);
@@ -254,7 +252,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
         motorRangeMax = mixerRuntime.motorOutputHigh;
 #endif
 
-        currentThrottleInputRange = RC_COMMAND_THROTTLE_RANGE;
+        currentThrottleInputRange = PWM_RANGE;
         motorRangeMin = mixerRuntime.motorOutputLow + motorRangeMinIncrease * (mixerRuntime.motorOutputHigh - mixerRuntime.motorOutputLow);
         motorOutputMin = motorRangeMin;
         motorOutputRange = motorRangeMax - motorRangeMin;
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 61e4785d86..454675d1a9 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -117,3 +117,4 @@ bool isFixedWing(void);
 
 float getMotorOutputLow(void);
 float getMotorOutputHigh(void);
+float getDynamicIdleOffset(void);
diff --git a/src/main/flight/mixer_init.c b/src/main/flight/mixer_init.c
index 67b336008a..db6674dd8a 100644
--- a/src/main/flight/mixer_init.c
+++ b/src/main/flight/mixer_init.c
@@ -396,6 +396,11 @@ static void mixerConfigureOutput(void)
 }
 #endif // USE_QUAD_MIXER_ONLY
 
+float getDynamicIdleOffset(void)
+{
+    return motorConfig()->digitalIdleOffsetValue * 0.0001f * PWM_RANGE;
+}
+
 void mixerInit(mixerMode_e mixerMode)
 {
     currentMixerMode = mixerMode;
@@ -410,7 +415,7 @@ void mixerInit(mixerMode_e mixerMode)
 #endif
 
 #ifdef USE_DYN_IDLE
-    mixerRuntime.idleThrottleOffset = motorConfig()->digitalIdleOffsetValue * 0.0001f;
+    mixerRuntime.idleThrottleOffset = getDynamicIdleOffset();
 #endif
 
     mixerConfigureOutput();
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index da5d400378..54540967af 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -31,7 +31,8 @@
 
 #define PWM_RANGE_MIN 1000
 #define PWM_RANGE_MAX 2000
-#define PWM_RANGE_MIDDLE (PWM_RANGE_MIN + ((PWM_RANGE_MAX - PWM_RANGE_MIN) / 2))
+#define PWM_RANGE (PWM_RANGE_MAX - PWM_RANGE_MIN)
+#define PWM_RANGE_MIDDLE (PWM_RANGE_MIN + (PWM_RANGE / 2))
 
 #define PWM_PULSE_MIN   750       // minimum PWM pulse width which is considered valid
 #define PWM_PULSE_MAX   2250      // maximum PWM pulse width which is considered valid