diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 2c76289888..befbbedee6 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -17,6 +17,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <string.h>
 #include <math.h>
 
 #include "platform.h"
@@ -134,7 +135,9 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value)
 
 void pwmWriteMotor(uint8_t index, uint16_t value)
 {
-    pwmWritePtr(index, value);
+    if (motors[index].enabled) {
+        pwmWritePtr(index, value);
+    }
 }
 
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
@@ -166,6 +169,11 @@ bool pwmAreMotorsEnabled(void)
 static void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
 {
     for (int index = 0; index < motorCount; index++) {
+
+        if (!motors[index].enabled) {
+            continue;
+        }
+
         bool overflowed = false;
         // If we have not already overflowed this timer
         for (int j = 0; j < index; j++) {
@@ -192,6 +200,8 @@ void pwmCompleteMotorUpdate(uint8_t motorCount)
 
 void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount)
 {
+    memset(motors, 0, sizeof(motors));
+    
     uint32_t timerMhzCounter = 0;
     bool useUnsyncedPwm = motorConfig->useUnsyncedPwm;
     bool isDigital = false;
@@ -277,6 +287,7 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
         }
         motors[motorIndex].enabled = true;
     }
+
     pwmMotorsEnabled = true;
 }
 
diff --git a/src/main/drivers/pwm_output_stm32f3xx.c b/src/main/drivers/pwm_output_stm32f3xx.c
index 7a624c3632..5ae299dcf0 100644
--- a/src/main/drivers/pwm_output_stm32f3xx.c
+++ b/src/main/drivers/pwm_output_stm32f3xx.c
@@ -61,7 +61,7 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
 
     motorDmaOutput_t * const motor = &dmaMotors[index];
 
-    if (!motor->timerHardware->dmaChannel) {
+    if (!motor->timerHardware || !motor->timerHardware->dmaChannel) {
         return;
     }
 
diff --git a/src/main/drivers/pwm_output_stm32f4xx.c b/src/main/drivers/pwm_output_stm32f4xx.c
index 55a48bcbaf..03156953a0 100644
--- a/src/main/drivers/pwm_output_stm32f4xx.c
+++ b/src/main/drivers/pwm_output_stm32f4xx.c
@@ -59,7 +59,7 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
 
     motorDmaOutput_t * const motor = &dmaMotors[index];
 
-    if (!motor->timerHardware->dmaStream) {
+    if (!motor->timerHardware || !motor->timerHardware->dmaStream) {
         return;
     }
 
diff --git a/src/main/drivers/pwm_output_stm32f7xx.c b/src/main/drivers/pwm_output_stm32f7xx.c
index 30ccd983e2..b898493250 100644
--- a/src/main/drivers/pwm_output_stm32f7xx.c
+++ b/src/main/drivers/pwm_output_stm32f7xx.c
@@ -58,7 +58,7 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
 
     motorDmaOutput_t * const motor = &dmaMotors[index];
 
-    if (!motor->timerHardware->dmaStream) {
+    if (!motor->timerHardware || !motor->timerHardware->dmaStream) {
         return;
     }