diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 46d4e7a4db..4186319508 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -966,18 +966,14 @@ void doInitElectronicThrottle() {
 		}
 		auto motor = initDcMotor(engineConfiguration->etbIo[i], i, engineConfiguration->etb_use_two_wires);
 
-		// If this motor is actually set up, init the etb
-		if (motor)
-		{
-			auto controller = engine->etbControllers[i];
-			if (!controller) {
-				continue;
-			}
-
-			auto pid = getEtbPidForFunction(func);
-
-			anyEtbConfigured |= controller->init(func, motor, pid, &pedal2tpsMap, shouldInitThrottles);
+		auto controller = engine->etbControllers[i];
+		if (!controller) {
+			continue;
 		}
+
+		auto pid = getEtbPidForFunction(func);
+
+		anyEtbConfigured |= controller->init(func, motor, pid, &pedal2tpsMap, shouldInitThrottles);
 	}
 
 	if (!anyEtbConfigured) {
@@ -1019,7 +1015,6 @@ void initElectronicThrottle() {
 	}
 #endif
 
-	efiAssertVoid(OBD_PCM_Processor_Fault, engine->etbControllers != NULL, "etbControllers NULL");
 #if EFI_PROD_CODE
 	addConsoleAction("ethinfo", showEthInfo);
 	addConsoleAction("etbreset", etbReset);
diff --git a/firmware/controllers/actuators/idle_hardware.cpp b/firmware/controllers/actuators/idle_hardware.cpp
index 95d11e38c2..b98d1425a1 100644
--- a/firmware/controllers/actuators/idle_hardware.cpp
+++ b/firmware/controllers/actuators/idle_hardware.cpp
@@ -102,13 +102,11 @@ void initIdleHardware() {
 			auto motorB = initDcMotor(engineConfiguration->stepper_raw_output[2],
 				engineConfiguration->stepper_raw_output[3], ETB_COUNT + 1);
 
-			if (motorA && motorB) {
-				iacHbridgeHw.initialize(
-					motorA,
-					motorB,
-					engineConfiguration->idleStepperReactionTime
-				);
-			}
+			iacHbridgeHw.initialize(
+				motorA,
+				motorB,
+				engineConfiguration->idleStepperReactionTime
+			);
 
 			hw = &iacHbridgeHw;
 		} else if (engineConfiguration->useHbridgesToDriveIdleStepper) {
@@ -117,13 +115,11 @@ void initIdleHardware() {
 			auto motorB = initDcMotor(engineConfiguration->stepperDcIo[1],
 				ETB_COUNT + 1, /*useTwoWires*/ true);
 
-			if (motorA && motorB) {
-				iacHbridgeHw.initialize(
-					motorA,
-					motorB,
-					engineConfiguration->idleStepperReactionTime
-				);
-			}
+			iacHbridgeHw.initialize(
+				motorA,
+				motorB,
+				engineConfiguration->idleStepperReactionTime
+			);
 
 			hw = &iacHbridgeHw;
 		} else {