diff --git a/src/main/drivers/dshot_bitbang.c b/src/main/drivers/dshot_bitbang.c
index 8045019829..59133b7337 100644
--- a/src/main/drivers/dshot_bitbang.c
+++ b/src/main/drivers/dshot_bitbang.c
@@ -145,13 +145,27 @@ static void bbOutputDataInit(uint32_t *buffer, uint16_t portMask, bool inverted)
         setMask = portMask;
     }
 
-    int bitpos;
+    int symbol_index;
 
-    for (bitpos = 0; bitpos < 16; bitpos++) {
-        buffer[bitpos * 3 + 0] |= setMask ; // Always set all ports
-        buffer[bitpos * 3 + 1] = 0;          // Reset bits are port dependent
-        buffer[bitpos * 3 + 2] |= resetMask; // Always reset all ports
+    for (symbol_index = 0; symbol_index < MOTOR_DSHOT_FRAME_BITS; symbol_index++) {
+        buffer[symbol_index * MOTOR_DSHOT_STATE_PER_SYMBOL + 0] |= setMask ; // Always set all ports
+        buffer[symbol_index * MOTOR_DSHOT_STATE_PER_SYMBOL + 1] = 0;          // Reset bits are port dependent
+        buffer[symbol_index * MOTOR_DSHOT_STATE_PER_SYMBOL + 2] |= resetMask; // Always reset all ports
     }
+
+    //
+    // output one more 'bit' that keeps the line level at idle to allow the ESC to sample the last bit
+    //
+    // Avoid CRC errors in the case of bi-directional d-shot.  CRC errors can occur if the output is
+    // transitioned to an input before the signal has been sampled by the ESC as the sampled voltage
+    // may be somewhere between logic-high and logic-low depending on how the motor output line is
+    // driven or floating.  On some MCUs it's observed that the voltage momentarily drops low on transition
+    // to input.
+
+    int hold_bit_index = MOTOR_DSHOT_FRAME_BITS * MOTOR_DSHOT_STATE_PER_SYMBOL;
+    buffer[hold_bit_index + 0] |= resetMask; // Always reset all ports
+    buffer[hold_bit_index + 1] = 0;          // Never any change
+    buffer[hold_bit_index + 2] = 0;          // Never any change
 }
 
 static void bbOutputDataSet(uint32_t *buffer, int pinNumber, uint16_t value, bool inverted)
diff --git a/src/main/drivers/dshot_bitbang_impl.h b/src/main/drivers/dshot_bitbang_impl.h
index e33baf23d4..f81fcc46db 100644
--- a/src/main/drivers/dshot_bitbang_impl.h
+++ b/src/main/drivers/dshot_bitbang_impl.h
@@ -51,6 +51,7 @@
 #define MOTOR_DSHOT_BIT_PER_SYMBOL         1
 
 #define MOTOR_DSHOT_STATE_PER_SYMBOL       3  // Initial high, 0/1, low
+#define MOTOR_DSHOT_BIT_HOLD_STATES        3  // 3 extra states at the end of transmission required to allow ESC to sample the last bit correctly.
 
 #define MOTOR_DSHOT_FRAME_BITS             16
 
@@ -62,7 +63,7 @@
 
 #define MOTOR_DSHOT_GCR_CHANGE_INTERVAL_NS(rate) (MOTOR_DSHOT_CHANGE_INTERVAL_NS(rate) * 5 / 4)
 
-#define MOTOR_DSHOT_BUF_LENGTH            ((MOTOR_DSHOT_FRAME_BITS / MOTOR_DSHOT_BIT_PER_SYMBOL) * MOTOR_DSHOT_STATE_PER_SYMBOL)
+#define MOTOR_DSHOT_BUF_LENGTH            (((MOTOR_DSHOT_FRAME_BITS / MOTOR_DSHOT_BIT_PER_SYMBOL) * MOTOR_DSHOT_STATE_PER_SYMBOL) + MOTOR_DSHOT_BIT_HOLD_STATES)
 #ifdef USE_DSHOT_CACHE_MGMT
 // MOTOR_DSHOT_BUF_LENGTH is multiples of uint32_t
 // Number of bytes required for buffer