diff --git a/src/main/config/config.c b/src/main/config/config.c
index 02c9a389a7..826fd88b56 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -134,7 +134,7 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 127;
+static const uint8_t EEPROM_CONF_VERSION = 128;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -485,7 +485,6 @@ static void resetConf(void)
     masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
 #endif
     masterConfig.servo_pwm_rate = 50;
-    masterConfig.force_motor_pwm_rate = 0;
     masterConfig.use_oneshot42 = 0;
 #ifdef CC3D
     masterConfig.use_buzzer_p6 = 0;
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index e9931b6ee6..a0bd3467df 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -36,7 +36,6 @@ typedef struct master_t {
 
     uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
     uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
-    uint8_t force_motor_pwm_rate;           // Use fixed motor update even when oneshot enabled
     uint8_t use_oneshot42;                  // Oneshot42
     uint8_t use_multiShot;                  // multishot
 
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 8a3be70fae..c7d4a24801 100755
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -31,7 +31,6 @@
 
 void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
 void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
-void pwmFixedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t useOneshot42, uint8_t useMultiShot);
 void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42);
 void pwmMultiShotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex);
 void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
@@ -805,9 +804,7 @@ if (init->useBuzzerP6) {
             }
 #endif
             if (init->useOneshot) {
-                if (init->useFixedPWM) {
-                    pwmFixedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->useOneshot42, init->useMultiShot);
-                } else if (init->useMultiShot) {
+                if (init->useMultiShot) {
                     pwmMultiShotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
                 } else {
                     pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->useOneshot42);
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index 86e070a359..9d8377f17c 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -60,7 +60,6 @@ typedef struct drv_pwm_config_s {
 #endif
     bool useVbat;
     bool useOneshot;
-    bool useFixedPWM;
     bool useOneshot42;
     bool useMultiShot;
     bool useSoftSerial;
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 1a69377f46..25d51892ee 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -205,26 +205,6 @@ void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motor
     motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
 }
 
-void pwmFixedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t useOneshot42, uint8_t useMultiShot)
-{
-    uint32_t hz;
-    if (useMultiShot) {
-        hz = MULTISHOT_TIMER_MHZ * 1000000;
-        motors[motorIndex] = pwmOutConfig(timerHardware, MULTISHOT_TIMER_MHZ, hz / motorPwmRate, idlePulse);
-    } else {
-        hz = ONESHOT_TIMER_MHZ * 1000000;
-        motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT_TIMER_MHZ, hz / motorPwmRate, idlePulse);
-    }
-
-    if (useOneshot42) {
-        motors[motorIndex]->pwmWritePtr = pwmWriteOneshot42;
-    } else if (useMultiShot) {
-        motors[motorIndex]->pwmWritePtr = pwmWriteMultiShot;
-    } else {
-        motors[motorIndex]->pwmWritePtr = pwmWriteOneshot125;
-    }
-}
-
 void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42)
 {
     motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT_TIMER_MHZ, 0xFFFF, 0);
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 4b8873b232..ba2dd5c666 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -633,7 +633,7 @@ void writeServos(void)
 }
 #endif
 
-void writeMotors(uint8_t useMotorPwmRate)
+void writeMotors(void)
 {
     uint8_t i;
 
@@ -641,7 +641,7 @@ void writeMotors(uint8_t useMotorPwmRate)
         pwmWriteMotor(i, motor[i]);
 
 
-    if (feature(FEATURE_ONESHOT125) && useMotorPwmRate) {
+    if (feature(FEATURE_ONESHOT125)) {
         pwmCompleteOneshotMotorUpdate(motorCount);
     }
 }
@@ -653,7 +653,7 @@ void writeAllMotors(int16_t mc)
     // Sends commands to all motors
     for (i = 0; i < motorCount; i++)
         motor[i] = mc;
-    writeMotors(0);
+    writeMotors();
 }
 
 void stopMotors(void)
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 12aec2ed05..eb324c6768 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -218,6 +218,6 @@ int servoDirection(int servoIndex, int fromChannel);
 #endif
 void mixerResetDisarmedMotors(void);
 void mixTable(void);
-void writeMotors(uint8_t useMotorPwmRate);
+void writeMotors(void);
 void stopMotors(void);
 void StopPwmAllMotors(void);
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 2e14ee9bae..685c092726 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -550,7 +550,6 @@ const clivalue_t valueTable[] = {
     { "3d_neutral",                 VAR_UINT16 | MASTER_VALUE,  &masterConfig.flight3DConfig.neutral3d, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "3d_deadband_throttle",       VAR_UINT16 | MASTER_VALUE,  &masterConfig.flight3DConfig.deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
 
-    { "force_motor_pwm_rate",       VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.force_motor_pwm_rate, .config.lookup = { TABLE_OFF_ON } },
     { "use_oneshot42",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.use_oneshot42, .config.lookup = { TABLE_OFF_ON } },
     { "use_multishot",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.use_multiShot, .config.lookup = { TABLE_OFF_ON } },
 #ifdef CC3D
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 18eed33b30..b353f79a4f 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -164,13 +164,8 @@ void setGyroSamplingSpeed(uint16_t looptime) {
 #endif
         masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
 
-        if (looptime < 1000) {
-            masterConfig.force_motor_pwm_rate = 1;
-            masterConfig.motor_pwm_rate = lrintf(1.0f / (gyroSampleRate * masterConfig.gyro_sync_denom * masterConfig.pid_process_denom * 0.000001f)) + 100;
-            if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42)) masterConfig.motor_pwm_rate = constrain(masterConfig.motor_pwm_rate, 1000, 3800);
-        } else {
-            masterConfig.force_motor_pwm_rate = 0;
-        }
+        masterConfig.motor_pwm_rate = lrintf(1.0f / (gyroSampleRate * masterConfig.gyro_sync_denom * masterConfig.pid_process_denom * 0.000001f));
+        if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42)) masterConfig.motor_pwm_rate = constrain(masterConfig.motor_pwm_rate, 1000, 3800);
     }
 }
 
diff --git a/src/main/main.c b/src/main/main.c
index 6024e64674..a1cac7835f 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -19,6 +19,7 @@
 #include <stdint.h>
 #include <stdlib.h>
 #include <string.h>
+#include <math.h>
 
 #include "platform.h"
 #include "scheduler.h"
@@ -310,7 +311,6 @@ void init(void)
 #endif
 
     pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
-    pwm_params.useFixedPWM = masterConfig.force_motor_pwm_rate ? true : false;
     if (masterConfig.use_oneshot42) {
         pwm_params.useOneshot42 = masterConfig.use_oneshot42 ? true : false;
         masterConfig.use_multiShot = false;
@@ -321,7 +321,7 @@ void init(void)
     pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
     if (feature(FEATURE_3D))
         pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
-    if (pwm_params.motorPwmRate > 500 && !masterConfig.force_motor_pwm_rate)
+    if (pwm_params.motorPwmRate > 500)
         pwm_params.idlePulse = 0; // brushed motors
 #ifdef CC3D
     pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
@@ -666,6 +666,8 @@ int main(void) {
     rescheduleTask(TASK_GYROPID, targetLooptime - INTERRUPT_WAIT_TIME);
 
     setTaskEnabled(TASK_GYROPID, true);
+    setTaskEnabled(TASK_MOTOR, true);
+    rescheduleTask(TASK_MOTOR, lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000));
     if(sensors(SENSOR_ACC)) {
         setTaskEnabled(TASK_ACCEL, true);
         switch(targetLooptime) {  // Switch statement kept in place to change acc rates in the future
diff --git a/src/main/mw.c b/src/main/mw.c
index dd5e8b7226..39adeb8d88 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -723,6 +723,20 @@ void subTasksMainPidLoop(void) {
     #endif
 }
 
+void taskMotorUpdate(void) {
+    if (motorControlEnable) {
+        if (debugMode == DEBUG_CYCLETIME) {
+            static uint32_t previousMotorUpdateTime;
+            uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
+            debug[2] = currentDeltaTime;
+            debug[3] = currentDeltaTime - previousMotorUpdateTime;
+            previousMotorUpdateTime = currentDeltaTime;
+        }
+
+        writeMotors();
+    }
+}
+
 // Function for loop trigger
 void taskMainPidLoopCheck(void) {
     static uint32_t previousTime;
@@ -737,18 +751,6 @@ void taskMainPidLoopCheck(void) {
         debug[1] = averageSystemLoadPercent;
     }
 
-    if (motorControlEnable && realTimeCycle) {
-        if (debugMode == DEBUG_CYCLETIME) {
-            static uint32_t previousMotorUpdateTime, motorCycleTime;
-            motorCycleTime = micros() - previousMotorUpdateTime;
-            previousMotorUpdateTime = micros();
-            debug[2] = motorCycleTime;
-            debug[3] = motorCycleTime - targetPidLooptime;
-        }
-
-        writeMotors(masterConfig.force_motor_pwm_rate);
-    }
-
     while (true) {
         if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - previousTime)) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) {
             static uint8_t pidUpdateCountdown;
@@ -765,7 +767,7 @@ void taskMainPidLoopCheck(void) {
             } else {
                 pidUpdateCountdown = masterConfig.pid_process_denom - 1;
                 taskMainPidLoop();
-                realTimeCycle = true;
+                //realTimeCycle = true;
             }
 
             break;
diff --git a/src/main/scheduler.c b/src/main/scheduler.c
index 14703243cf..9d26edfbf4 100755
--- a/src/main/scheduler.c
+++ b/src/main/scheduler.c
@@ -66,6 +66,7 @@ typedef struct {
 } cfTask_t;
 
 void taskMainPidLoopCheck(void);
+void taskMotorUpdate(void);
 void taskUpdateAccelerometer(void);
 void taskHandleSerial(void);
 void taskUpdateBeeper(void);
@@ -103,6 +104,13 @@ static cfTask_t cfTasks[TASK_COUNT] = {
         .staticPriority = TASK_PRIORITY_REALTIME,
     },
 
+    [TASK_MOTOR] = {
+        .taskName = "MOTOR",
+        .taskFunc = taskMotorUpdate,
+        .desiredPeriod = 1000,
+        .staticPriority = TASK_PRIORITY_HIGH,
+    },
+
     [TASK_ACCEL] = {
         .taskName = "ACCEL",
         .taskFunc = taskUpdateAccelerometer,
diff --git a/src/main/scheduler.h b/src/main/scheduler.h
index 9b8ce3801c..bd462d3f64 100755
--- a/src/main/scheduler.h
+++ b/src/main/scheduler.h
@@ -43,6 +43,7 @@ typedef enum {
     /* Actual tasks */
     TASK_SYSTEM = 0,
     TASK_GYROPID,
+    TASK_MOTOR,
     TASK_ACCEL,
     TASK_SERIAL,
     TASK_BEEPER,