diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index f14a93fa..03a7e67d 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -3244,5 +3244,17 @@
     },
     "defaultsDialogInfo": {
         "message": "INAV Configurator would like to know which kind of UAV you are configuring. Based on this information it will modify some default values to unlock the best flying performance. "
+    },
+    "throttleIdle": {
+        "message": "Motors IDLE power [%]"
+    },
+    "throttleIdleDigitalInfo": {
+        "message": "For digital protocols, IDLE can be lowered even down to 5-7% without motors stopping in the air. If a drone wobbles after pulling throttle low, try increasing IDLE to tune this behavior out."
+    },
+    "throttleIdleAnalogInfo": {
+        "message": "For analog protocols, IDLE can be lowered below 10% if motors are working smooth without stuttering. If a drone wobbles after pulling throttle low, try increasing IDLE to tune this behavior out."
+    },
+    "motor_poles": {
+        "message": "Number of motor poles (number of magnets)"
     }
 }
diff --git a/js/settings.js b/js/settings.js
index 3414a6cf..f95d8422 100644
--- a/js/settings.js
+++ b/js/settings.js
@@ -52,7 +52,15 @@ var Settings = (function () {
                     input.val(s.value);
                 } else if (s.setting.type == 'float') {
                     input.attr('type', 'number');
-                    input.attr('step', "0.01");
+
+                    let dataStep = input.data("step");
+
+                    if (dataStep !== undefined) {
+                        input.attr('step', dataStep);
+                    } else {
+                        input.attr('step', "0.01");
+                    }
+                    
                     input.attr('min', s.setting.min);
                     input.attr('max', s.setting.max);
                     input.val(s.value.toFixed(2));
diff --git a/tabs/motors.html b/tabs/motors.html
index 6640b042..e25fbfc1 100644
--- a/tabs/motors.html
+++ b/tabs/motors.html
@@ -53,25 +53,21 @@
                     <div class="helpicon cf_tip" data-i18n_title="featureMOTOR_STOPTip"></div>
                 </div>
 
-                <!--   -->
-                <div class="number hide-for-shot">
-                    <input type="number" data-simple-bind="MISC.minthrottle" id="minthrottle" name="minthrottle" min="0" max="2000" />
-                    <label for="minthrottle">
-                        <span data-i18n="configurationThrottleMinimum"></span>
+                <div id="throttle_idle-info" class="info-box"></div>
+                <div class="number requires-v2_4">
+                    <input id="throttle_idle" data-setting="throttle_idle" type="number" data-step="1.0" />
+                    <label for="throttle_idle">
+                        <span data-i18n="throttleIdle"></span>
                     </label>
                 </div>
-                <div class="number hide-for-shot">
-                    <input type="number" data-simple-bind="MISC.maxthrottle" id="maxthrottle" name="maxthrottle" min="0" max="2000" />
-                    <label for="maxthrottle">
-                        <span data-i18n="configurationThrottleMaximum"></span>
-                    </label>
-                </div>
-                <div class="number hide-for-shot">
-                    <input type="number" data-simple-bind="MISC.mincommand" id="mincommand" name="mincommand" min="0" max="2000" />
-                    <label for="mincommand">
-                        <span data-i18n="configurationThrottleMinimumCommand"></span>
+
+                <div class="number requires-v2_4">
+                    <input id="motor_poles" data-setting="motor_poles" type="number" />
+                    <label for="motor_poles">
+                        <span data-i18n="motor_poles"></span>
                     </label>
                 </div>
+                 
             </div>
         </div>
         <div class="gui_box grey">
diff --git a/tabs/motors.js b/tabs/motors.js
index fd55dd7a..be641f7e 100644
--- a/tabs/motors.js
+++ b/tabs/motors.js
@@ -43,6 +43,7 @@ TABS.motors.initialize = function (callback) {
     var saveChainer = new MSPChainerClass();
 
     saveChainer.setChain([
+        saveSettings,
         mspHelper.sendServoConfigurations,
         mspHelper.saveAdvancedConfig,
         mspHelper.saveBfConfig,
@@ -55,19 +56,31 @@ TABS.motors.initialize = function (callback) {
     });
 
     function load_html() {
-        GUI.load("./tabs/motors.html", onLoad);
+        GUI.load("./tabs/motors.html", Settings.processHtml(onLoad));
+    }
+
+    function saveSettings(onComplete) {
+        Settings.saveInputs().then(onComplete);
     }
 
     function onLoad() {
         process_motors();
         process_servos();
         processConfiguration();
+
+        if (semver.gte(CONFIG.flightControllerVersion, "2.4.0")) {
+            $('.requires-v2_4').show();
+        } else {
+            $('.requires-v2_4').hide();
+        }
+
         finalize();
     } 
 
     function processConfiguration() {
-        let escProtocols = FC.getEscProtocols();
-        let servoRates = FC.getServoRates();
+        let escProtocols = FC.getEscProtocols(),
+            servoRates = FC.getServoRates(),
+            $idleInfoBox = $("#throttle_idle-info");
 
         function buildMotorRates() {
             var protocolData = escProtocols[ADVANCED_CONFIG.motorPwmProtocol];
@@ -88,10 +101,15 @@ TABS.motors.initialize = function (callback) {
             }
 
             if (ADVANCED_CONFIG.motorPwmProtocol >= 5) {
-                //DSHOT/SERIALSHOT protocols, simplify UI
-                $('.hide-for-shot').addClass('is-hidden');
+
+                $idleInfoBox.html(chrome.i18n.getMessage('throttleIdleDigitalInfo'));
+                $idleInfoBox.addClass('ok-box');
+                $idleInfoBox.show();
+
             } else {
-                $('.hide-for-shot').removeClass('is-hidden');
+                $idleInfoBox.html(chrome.i18n.getMessage('throttleIdleAnalogInfo'));
+                $idleInfoBox.addClass('ok-box');
+                $idleInfoBox.show();
             }
 
             if (protocolData.message !== null) {