diff --git a/locales/en/messages.json b/locales/en/messages.json
index c11249ee19..1e58a99eab 100755
--- a/locales/en/messages.json
+++ b/locales/en/messages.json
@@ -1355,6 +1355,10 @@
         "message": "The pole count is the number of magnets on the bell of the motor. Do NOT count the stators where the windings are located. 5\" motors usually have 14 magnets, 3\" or smaller often have 12 magnets.",
         "description": "Help text for the Motor poles field of the ESC/Motor configuration"
     },
+    "configurationMotorIdleRpmHelp" : {
+        "message": "This is the dynamic idle value from the active PID profile. When Dynamic Idle is set to zero, only static motor idle will apply. Change the Dynamic Idle settings on the PID tuning tab.",
+        "description": "Help text for dynamic idle setting" 
+    },
     "configurationThrottleMinimum": {
         "message": "Minimum Throttle (Lowest ESC value when armed)"
     },
diff --git a/src/css/main.less b/src/css/main.less
index f0e1f4b0e1..b5eb22562e 100644
--- a/src/css/main.less
+++ b/src/css/main.less
@@ -103,6 +103,12 @@ input[type="number"] {
         margin-left: 5px;
     }
 }
+.noarrows {
+    input::-webkit-outer-spin-button,
+    input::-webkit-inner-spin-button {
+        -webkit-appearance: none;
+    }
+}
 .clear-both {
     clear: both;
 }
diff --git a/src/js/tabs/motors.js b/src/js/tabs/motors.js
index ac4a506329..453d3727ff 100644
--- a/src/js/tabs/motors.js
+++ b/src/js/tabs/motors.js
@@ -281,6 +281,7 @@ motors.initialize = async function (callback) {
             dshotBidir:         FC.MOTOR_CONFIG.use_dshot_telemetry,
             motorPoles:         FC.MOTOR_CONFIG.motor_poles,
             digitalIdlePercent: FC.PID_ADVANCED_CONFIG.digitalIdlePercent,
+            idleMinRpm:         FC.ADVANCED_TUNING.idleMinRpm,
             _3ddeadbandlow:     FC.MOTOR_3D_CONFIG.deadband3d_low,
             _3ddeadbandhigh:    FC.MOTOR_3D_CONFIG.deadband3d_high,
             _3dneutral:         FC.MOTOR_3D_CONFIG.neutral,
@@ -693,6 +694,8 @@ motors.initialize = async function (callback) {
         unsyncedPWMSwitchElement.prop('checked', FC.PID_ADVANCED_CONFIG.use_unsyncedPwm !== 0).trigger("change");
         $('input[name="unsyncedpwmfreq"]').val(FC.PID_ADVANCED_CONFIG.motor_pwm_rate);
         $('input[name="digitalIdlePercent"]').val(FC.PID_ADVANCED_CONFIG.digitalIdlePercent);
+        $('input[name="idleMinRpm"]').val(FC.ADVANCED_TUNING.idleMinRpm);
+
         if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
             dshotBidirElement.prop('checked', FC.MOTOR_CONFIG.use_dshot_telemetry).trigger("change");
 
@@ -771,6 +774,7 @@ motors.initialize = async function (callback) {
             divUnsyncedPWMFreq.toggle(protocolConfigured && !digitalProtocol);
 
             $('div.digitalIdlePercent').toggle(protocolConfigured && digitalProtocol);
+            $('div.idleMinRpm').toggle(protocolConfigured && digitalProtocol && FC.MOTOR_CONFIG.use_dshot_telemetry);
 
             if (FC.ADVANCED_TUNING.idleMinRpm && FC.MOTOR_CONFIG.use_dshot_telemetry) {
                 $('div.digitalIdlePercent').hide();
diff --git a/src/tabs/motors.html b/src/tabs/motors.html
index 9f65fd5b1c..5fcf68126a 100644
--- a/src/tabs/motors.html
+++ b/src/tabs/motors.html
@@ -102,6 +102,15 @@
                                     </label>
                                     <div class="helpicon cf_tip" i18n_title="configurationMotorPolesHelp"></div>
                                 </div>
+                                <div class="number idleMinRpm">
+                                    <label>
+                                        <div class="numberspacer noarrows">
+                                            <input type="number" name="idleMinRpm" min="0" max="100" step="1" readonly/>
+                                        </div>
+                                        <span i18n="pidTuningIdleMinRpm"></span>
+                                    </label>
+                                    <div class="helpicon cf_tip" i18n_title="configurationMotorIdleRpmHelp"></div>
+                                </div>
                                 <div class="number digitalIdlePercent">
                                     <label>
                                         <div class="numberspacer">