diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index d247b5bed6..31af981d38 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -487,6 +487,13 @@ void writeAllMotors(int16_t mc)
     writeMotors();
 }
 
+void stopMotors(void)
+{
+    writeAllMotors(escAndServoConfig->mincommand);
+
+    delay(50); // give the timers and ESCs a chance to react.
+}
+
 #ifndef USE_QUAD_MIXER_ONLY
 static void airplaneMixer(void)
 {
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 38bba6b741..627199af3b 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -109,3 +109,4 @@ void mixerLoadMix(int index, motorMixer_t *customMixers);
 void mixerResetMotors(void);
 void mixTable(void);
 void writeMotors(void);
+void stopMotors(void);
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 29c2f5497c..de9bf0d84a 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -1344,6 +1344,7 @@ static void cliRateProfile(char *cmdline)
 static void cliReboot(void) {
     cliPrint("\r\nRebooting");
     waitForSerialPortToFinishTransmitting(cliPort);
+    stopMotors();
     systemReset();
 }
 
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 942c009a80..408bea6539 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -1688,6 +1688,7 @@ void mspProcess(void)
             while (!isSerialTransmitBufferEmpty(candidatePort->port)) {
                 delay(50);
             }
+            stopMotors();
             systemReset();
         }
     }
diff --git a/src/main/main.c b/src/main/main.c
index 7e530b3f32..f9a5c4ab38 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -127,11 +127,20 @@ void SetSysClock(void);
 void SetSysClock(bool overclock);
 #endif
 
+typedef enum {
+    SYSTEM_STATE_INITIALISING   = 0,
+    SYSTEM_STATE_CONFIG_LOADED  = (1 << 0),
+    SYSTEM_STATE_SENSORS_READY  = (1 << 1),
+    SYSTEM_STATE_MOTORS_READY   = (1 << 2),
+    SYSTEM_STATE_READY          = (1 << 7)
+} systemState_e;
+
+static uint8_t systemState = SYSTEM_STATE_INITIALISING;
+
 void init(void)
 {
     uint8_t i;
     drv_pwm_config_t pwm_params;
-    bool sensorsOK = false;
 
     printfSupportInit();
 
@@ -140,6 +149,8 @@ void init(void)
     ensureEEPROMContainsValidData();
     readEEPROM();
 
+    systemState |= SYSTEM_STATE_CONFIG_LOADED;
+
 #ifdef STM32F303
     // start fpu
     SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
@@ -222,6 +233,8 @@ void init(void)
 
     mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
 
+    systemState |= SYSTEM_STATE_MOTORS_READY;
+
 #ifdef BEEPER
     beeperConfig_t beeperConfig = {
         .gpioPin = BEEP_PIN,
@@ -300,11 +313,12 @@ void init(void)
     }
 #endif
 
-    sensorsOK = sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination);
-
-    // if gyro was not detected due to whatever reason, we give up now.
-    if (!sensorsOK)
+    if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination)) {
+        // if gyro was not detected due to whatever reason, we give up now.
         failureMode(3);
+    }
+
+    systemState |= SYSTEM_STATE_SENSORS_READY;
 
     LED1_ON;
     LED0_OFF;
@@ -329,7 +343,9 @@ void init(void)
     serialInit(&masterConfig.serialConfig);
 
     failsafe = failsafeInit(&masterConfig.rxConfig);
+
     beepcodeInit(failsafe);
+
     rxInit(&masterConfig.rxConfig, failsafe);
 
 #ifdef GPS
@@ -425,6 +441,8 @@ void init(void)
 #ifdef CJMCU
     LED2_ON;
 #endif
+
+    systemState |= SYSTEM_STATE_READY;
 }
 
 #ifdef SOFTSERIAL_LOOPBACK
@@ -453,6 +471,9 @@ int main(void) {
 void HardFault_Handler(void)
 {
     // fall out of the sky
-    writeAllMotors(masterConfig.escAndServoConfig.mincommand);
+    uint8_t requiredState = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
+    if ((systemState & requiredState) == requiredState) {
+        stopMotors();
+    }
     while (1);
 }