diff --git a/src/main/config/config.c b/src/main/config/config.c
index 1927ae0bb3..0c1f5e6345 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -943,8 +943,8 @@ void handleOneshotFeatureChangeOnRestart(void)
     // Shutdown PWM on all motors prior to soft restart
     StopPwmAllMotors();
     delay(50);
-    // When OneShot125 feature changed state apply additional delay
-    if ((masterConfig.enabledFeatures ^ activeFeaturesLatch) & FEATURE_ONESHOT125) {
+    // Apply additional delay when OneShot125 feature changed from on to off state
+    if (feature(FEATURE_ONESHOT125) && !featureConfigured(FEATURE_ONESHOT125)) {
         delay(ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS);
     }
 }
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index e6079e907c..bcdfe93e0c 100644
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -528,7 +528,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
             channelIndex++;
         } else if (type == MAP_TO_MOTOR_OUTPUT) {
             if (init->useOneshot) {
-                pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->idlePulse);
+                pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, 0);
             } else if (init->motorPwmRate > 500) {
                 pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
             } else {
diff --git a/src/main/main.c b/src/main/main.c
index 0500a1abd2..20dd80ee13 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -90,6 +90,7 @@
 #include "debug.h"
 
 extern uint32_t previousTime;
+extern uint8_t motorControlEnable;
 
 #ifdef SOFTSERIAL_LOOPBACK
 serialPort_t *loopbackPort;
@@ -241,6 +242,9 @@ void init(void)
 
     mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
 
+    if (!feature(FEATURE_ONESHOT125))
+        motorControlEnable = true;
+
     systemState |= SYSTEM_STATE_MOTORS_READY;
 
 #ifdef BEEPER
@@ -456,6 +460,7 @@ void init(void)
 
     // Latch active features AGAIN since some may be modified by init().
     latchActiveFeatures();
+    motorControlEnable = true;
 
     systemState |= SYSTEM_STATE_READY;
 }
diff --git a/src/main/mw.c b/src/main/mw.c
index 471b4294e0..0cfd46b379 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -97,6 +97,8 @@ uint16_t cycleTime = 0;         // this is the number in micro second to achieve
 int16_t magHold;
 int16_t headFreeModeHold;
 
+uint8_t motorControlEnable = false;
+
 int16_t telemTemperature1;      // gyro sensor temperature
 static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
 
@@ -801,7 +803,9 @@ void loop(void)
         writeServos();
 #endif
 
-        writeMotors();
+        if (motorControlEnable) {
+            writeMotors();
+        }
 
 #ifdef BLACKBOX
         if (!cliMode && feature(FEATURE_BLACKBOX)) {