diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index 3cd477c239..fddd7fb63c 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -1056,13 +1056,14 @@ const clivalue_t valueTable[] = {
     { "transient_throttle_limit",   VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 30 }, PG_PID_PROFILE, offsetof(pidProfile_t, transient_throttle_limit) },
 #endif
 
+#ifdef USE_DYN_IDLE
     { "idle_hz",                    VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, idle_hz) },
     { "idle_adjustment_speed",      VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 25, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, idle_adjustment_speed) },
     { "idle_throttle",              VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, idle_throttle) },
     { "idle_p",                     VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, idle_p) },
     { "idle_pid_limit",             VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, idle_pid_limit) },
     { "idle_max_increase",          VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, idle_max_increase) },
-    
+#endif
     
 // PG_TELEMETRY_CONFIG
 #ifdef USE_TELEMETRY
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 626e04617e..a2b4331483 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -575,7 +575,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
         }
     } else {
         static float motorRangeMinIncrease = 0;
-#ifdef USE_RPM_FILTER
+#ifdef USE_DYN_IDLE
         if (currentPidProfile->idle_hz) {
             static float oldMinRpm;
             const float maxIncrease = isAirmodeActivated() ? currentPidProfile->idle_max_increase * 0.001f : 0.04f;
@@ -848,7 +848,9 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
     throttle = pidCompensateThrustLinearization(throttle);
 #endif
 
+#ifdef USE_DYN_IDLE
     throttle += currentPidProfile->idle_throttle * 0.001f;
+#endif
 
 #if defined(USE_THROTTLE_BOOST)
     if (throttleBoost > 0.0f) {
diff --git a/src/main/target/common_pre.h b/src/main/target/common_pre.h
index ae936e64f2..7b8905ba1a 100644
--- a/src/main/target/common_pre.h
+++ b/src/main/target/common_pre.h
@@ -55,6 +55,7 @@
 #define USE_DSHOT_TELEMETRY
 #define USE_DSHOT_TELEMETRY_STATS
 #define USE_RPM_FILTER
+#define USE_DYN_IDLE
 #define I2C3_OVERCLOCK true
 #define USE_GYRO_DATA_ANALYSE
 #define USE_ADC
@@ -83,6 +84,7 @@
 #define USE_DSHOT_TELEMETRY
 #define USE_DSHOT_TELEMETRY_STATS
 #define USE_RPM_FILTER
+#define USE_DYN_IDLE
 #define I2C3_OVERCLOCK true
 #define I2C4_OVERCLOCK true
 #define USE_GYRO_DATA_ANALYSE