diff --git a/src/main/cli/cli.c b/src/main/cli/cli.c
index 7d2fa32093..d710f97873 100644
--- a/src/main/cli/cli.c
+++ b/src/main/cli/cli.c
@@ -3803,7 +3803,7 @@ static void executeEscInfoCommand(const char *cmdName, uint8_t escIndex)
 
     startEscDataRead(escInfoBuffer, ESC_INFO_BLHELI32_EXPECTED_FRAME_SIZE);
 
-    dshotCommandWrite(escIndex, getMotorCount(), DSHOT_CMD_ESC_INFO, true);
+    dshotCommandWrite(escIndex, getMotorCount(), DSHOT_CMD_ESC_INFO, DSHOT_CMD_TYPE_BLOCKING);
 
     delay(10);
 
@@ -3811,9 +3811,6 @@ static void executeEscInfoCommand(const char *cmdName, uint8_t escIndex)
 }
 #endif // USE_ESC_SENSOR && USE_ESC_SENSOR_INFO
 
-
-// XXX Review dshotprog command under refactored motor handling
-
 static void cliDshotProg(const char *cmdName, char *cmdline)
 {
     if (isEmpty(cmdline) || !isMotorProtocolDshot()) {
@@ -3854,7 +3851,7 @@ static void cliDshotProg(const char *cmdName, char *cmdline)
                     }
 
                     if (command != DSHOT_CMD_ESC_INFO) {
-                        dshotCommandWrite(escIndex, getMotorCount(), command, true);
+                        dshotCommandWrite(escIndex, getMotorCount(), command, DSHOT_CMD_TYPE_BLOCKING);
                     } else {
 #if defined(USE_ESC_SENSOR) && defined(USE_ESC_SENSOR_INFO)
                         if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
diff --git a/src/main/drivers/dshot_command.c b/src/main/drivers/dshot_command.c
index 97863dd226..47790a7e33 100644
--- a/src/main/drivers/dshot_command.c
+++ b/src/main/drivers/dshot_command.c
@@ -151,18 +151,23 @@ static bool allMotorsAreIdle(void)
     return true;
 }
 
-bool dshotCommandsAreEnabled(void)
+bool dshotCommandsAreEnabled(dshotCommandType_e commandType)
 {
-    if (motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS) {
-        return true;
-    } else {
-        return false;
+    bool ret = false;
+
+    if (commandType == DSHOT_CMD_TYPE_BLOCKING) {
+        ret = !motorIsEnabled();
+    } else if (commandType == DSHOT_CMD_TYPE_INLINE) {
+        if (motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS) {
+            ret = true;
+        }
     }
+    return ret;
 }
 
-void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking)
+void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshotCommandType_e commandType)
 {
-    if (!isMotorProtocolDshot() || !dshotCommandsAreEnabled() || (command > DSHOT_MAX_COMMAND) || dshotCommandQueueFull()) {
+    if (!isMotorProtocolDshot() || !dshotCommandsAreEnabled(commandType) || (command > DSHOT_MAX_COMMAND) || dshotCommandQueueFull()) {
         return;
     }
 
@@ -192,7 +197,7 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, bool
         break;
     }
 
-    if (blocking) {
+    if (commandType == DSHOT_CMD_TYPE_BLOCKING) {
         delayMicroseconds(DSHOT_INITIAL_DELAY_US - DSHOT_COMMAND_DELAY_US);
         for (; repeats; repeats--) {
             delayMicroseconds(DSHOT_COMMAND_DELAY_US);
@@ -213,7 +218,7 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, bool
             dshotPwmDevice.vTable.updateComplete();
         }
         delayMicroseconds(delayAfterCommandUs);
-    } else {
+    } else if (commandType == DSHOT_CMD_TYPE_INLINE) {
         dshotCommandControl_t *commandControl = addCommand();
         if (commandControl) {
             commandControl->repeats = repeats;
diff --git a/src/main/drivers/dshot_command.h b/src/main/drivers/dshot_command.h
index 86e5b21438..9351ab49fe 100644
--- a/src/main/drivers/dshot_command.h
+++ b/src/main/drivers/dshot_command.h
@@ -62,10 +62,15 @@ typedef enum {
     DSHOT_CMD_MAX = 47
 } dshotCommands_e;
 
-void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking);
+typedef enum {
+    DSHOT_CMD_TYPE_INLINE = 0,    // dshot commands sent inline with motor signal (motors must be enabled)
+    DSHOT_CMD_TYPE_BLOCKING       // dshot commands sent in blocking method (motors must be disabled)
+} dshotCommandType_e;
+
+void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshotCommandType_e commandType);
 void dshotSetPidLoopTime(uint32_t pidLoopTime);
 bool dshotCommandQueueEmpty(void);
 bool dshotCommandIsProcessing(void);
 uint8_t dshotCommandGetCurrent(uint8_t index);
 bool dshotCommandOutputIsEnabled(uint8_t motorCount);
-bool dshotCommandsAreEnabled(void);
+bool dshotCommandsAreEnabled(dshotCommandType_e commandType);
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index 8aed83b1b4..26539e23d5 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -277,7 +277,7 @@ void updateArmingStatus(void)
             // We also need to prevent arming until it's possible to send DSHOT commands.
             // Otherwise if the initial arming is in crash-flip the motor direction commands
             // might not be sent.
-            && dshotCommandsAreEnabled()
+            && dshotCommandsAreEnabled(DSHOT_CMD_TYPE_INLINE)
 #endif
         ) {
             // If so, unset the grace time arming disable flag
@@ -458,7 +458,7 @@ void disarm(flightLogDisarmReason_e reason)
         BEEP_OFF;
 #ifdef USE_DSHOT
         if (isMotorProtocolDshot() && flipOverAfterCrashActive && !featureIsEnabled(FEATURE_3D)) {
-            dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
+            dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, DSHOT_CMD_TYPE_INLINE);
         }
 #endif
         flipOverAfterCrashActive = false;
@@ -509,7 +509,7 @@ void tryArm(void)
             if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
                 flipOverAfterCrashActive = false;
                 if (!featureIsEnabled(FEATURE_3D)) {
-                    dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
+                    dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, DSHOT_CMD_TYPE_INLINE);
                 }
             } else {
                 flipOverAfterCrashActive = true;
@@ -517,7 +517,7 @@ void tryArm(void)
                 runawayTakeoffCheckDisabled = false;
 #endif
                 if (!featureIsEnabled(FEATURE_3D)) {
-                    dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, false);
+                    dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, DSHOT_CMD_TYPE_INLINE);
                 }
             }
         }
diff --git a/src/main/io/beeper.c b/src/main/io/beeper.c
index 7014dcd2d9..aa4f953d55 100644
--- a/src/main/io/beeper.c
+++ b/src/main/io/beeper.c
@@ -401,7 +401,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
 
             if ((currentTimeUs - getLastDisarmTimeUs() > DSHOT_BEACON_GUARD_DELAY_US) && !isTryingToArm()) {
                 lastDshotBeaconCommandTimeUs = currentTimeUs;
-                dshotCommandWrite(ALL_MOTORS, getMotorCount(), beeperConfig()->dshotBeaconTone, false);
+                dshotCommandWrite(ALL_MOTORS, getMotorCount(), beeperConfig()->dshotBeaconTone, DSHOT_CMD_TYPE_INLINE);
             }
         }
 #endif