diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 166d5c8882..c7f2942c0e 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -386,6 +386,11 @@ uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
     }
 }
 
+FAST_RAM bool pwmIsProcessingDshotCommand(void)
+{
+    return dshotCommandControl.nextCommandAt;
+}
+
 void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking)
 {
     timeUs_t timeNowUs = micros();
@@ -448,11 +453,6 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bo
     }
 }
 
-FAST_RAM bool pwmIsProcessingDshotCommand(void)
-{
-    return dshotCommandControl.nextCommandAt;
-}
-
 uint8_t pwmGetDshotCommand(uint8_t index)
 {
     return dshotCommandControl.command[index];
diff --git a/src/main/drivers/pwm_output_dshot.c b/src/main/drivers/pwm_output_dshot.c
index 43b94480fc..53e6b3b100 100644
--- a/src/main/drivers/pwm_output_dshot.c
+++ b/src/main/drivers/pwm_output_dshot.c
@@ -97,8 +97,10 @@ void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
     UNUSED(motorCount);
 
     /* If there is a dshot command loaded up, time it correctly with motor update*/
-    if (!pwmProcessDshotCommand(motorCount)) {
-        return; //Skip motor update
+    if (pwmIsProcessingDshotCommand()) {
+        if (!pwmProcessDshotCommand(motorCount)) {
+            return;
+        }
     }
 
     for (int i = 0; i < dmaMotorTimerCount; i++) {