diff --git a/src/main/config/config.c b/src/main/config/config.c
index 802fbc7f09..02c9a389a7 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -485,7 +485,7 @@ static void resetConf(void)
     masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
 #endif
     masterConfig.servo_pwm_rate = 50;
-    masterConfig.use_fast_pwm = 0;
+    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 e55cb8f6e1..e9931b6ee6 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -36,9 +36,9 @@ 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 use_fast_pwm;                   // Use fast PWM implementation when oneshot enabled
-    uint8_t use_oneshot42;                   // Oneshot42
-    uint8_t use_multiShot;                   // multishot
+    uint8_t force_motor_pwm_rate;           // Use fixed motor update even when oneshot enabled
+    uint8_t use_oneshot42;                  // Oneshot42
+    uint8_t use_multiShot;                  // multishot
 
 #ifdef USE_SERVOS
     servoMixer_t customServoMixer[MAX_SERVO_RULES];
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 02eb9dcb52..8a3be70fae 100755
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -31,7 +31,7 @@
 
 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 fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t useOneshot42, uint8_t useMultiShot);
+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);
@@ -805,8 +805,8 @@ if (init->useBuzzerP6) {
             }
 #endif
             if (init->useOneshot) {
-                if (init->useFastPWM) {
-                    fastPWMMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->useOneshot42, init->useMultiShot);
+                if (init->useFixedPWM) {
+                    pwmFixedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->useOneshot42, init->useMultiShot);
                 } else if (init->useMultiShot) {
                     pwmMultiShotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
                 } else {
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index f77cbd0694..86e070a359 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -60,7 +60,7 @@ typedef struct drv_pwm_config_s {
 #endif
     bool useVbat;
     bool useOneshot;
-    bool useFastPWM;
+    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 aaeeed5a61..1a69377f46 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -205,7 +205,7 @@ void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motor
     motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
 }
 
-void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t useOneshot42, uint8_t useMultiShot)
+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) {
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index ba2dd5c666..4b8873b232 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -633,7 +633,7 @@ void writeServos(void)
 }
 #endif
 
-void writeMotors(void)
+void writeMotors(uint8_t useMotorPwmRate)
 {
     uint8_t i;
 
@@ -641,7 +641,7 @@ void writeMotors(void)
         pwmWriteMotor(i, motor[i]);
 
 
-    if (feature(FEATURE_ONESHOT125)) {
+    if (feature(FEATURE_ONESHOT125) && useMotorPwmRate) {
         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();
+    writeMotors(0);
 }
 
 void stopMotors(void)
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index eb324c6768..12aec2ed05 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(void);
+void writeMotors(uint8_t useMotorPwmRate);
 void stopMotors(void);
 void StopPwmAllMotors(void);
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 98c7ed051a..2e14ee9bae 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -550,7 +550,7 @@ 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 } },
 
-    { "use_fast_pwm",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.use_fast_pwm, .config.lookup = { TABLE_OFF_ON } },
+    { "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 deb8594ab1..c8364e2d19 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -165,10 +165,14 @@ void setGyroSamplingSpeed(uint16_t looptime) {
         masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
 
         if (looptime < 1000) {
-            masterConfig.use_fast_pwm = 1;
-            masterConfig.motor_pwm_rate = lrintf(1.0f / (gyroSampleRate * masterConfig.gyro_sync_denom * masterConfig.pid_process_denom * 0.000001f));
+            masterConfig.force_motor_pwm_rate = 1;
+            if (masterConfig.use_multiShot || masterConfig.use_oneshot42) {
+                masterConfig.motor_pwm_rate = 4200;
+            } else {
+                masterConfig.motor_pwm_rate = 2700;
+            }
         } else {
-            masterConfig.use_fast_pwm = 0;
+            masterConfig.force_motor_pwm_rate = 0;
         }
     }
 }
diff --git a/src/main/main.c b/src/main/main.c
index 58941dc315..6024e64674 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -310,7 +310,7 @@ void init(void)
 #endif
 
     pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
-    pwm_params.useFastPWM = masterConfig.use_fast_pwm ? true : false;
+    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.use_fast_pwm)
+    if (pwm_params.motorPwmRate > 500 && !masterConfig.force_motor_pwm_rate)
         pwm_params.idlePulse = 0; // brushed motors
 #ifdef CC3D
     pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
diff --git a/src/main/mw.c b/src/main/mw.c
index 2df6357676..dd5e8b7226 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -746,7 +746,7 @@ void taskMainPidLoopCheck(void) {
             debug[3] = motorCycleTime - targetPidLooptime;
         }
 
-        writeMotors();
+        writeMotors(masterConfig.force_motor_pwm_rate);
     }
 
     while (true) {