diff --git a/firmware/CHANGELOG.md b/firmware/CHANGELOG.md
index efd31bdf00..736b0ec730 100644
--- a/firmware/CHANGELOG.md
+++ b/firmware/CHANGELOG.md
@@ -31,6 +31,9 @@ Release template (copy/paste this for new release):
 ### Added
  - DAC with Lua #5601
 
+### Fixed
+ - Changing idle stepper settings causes kernel panic
+
 ## October 2023 "Day 591"
 
 ### Breaking Changes
diff --git a/firmware/controllers/system/thread_controller.h b/firmware/controllers/system/thread_controller.h
index 9703f0dc90..1c78a3cdf6 100644
--- a/firmware/controllers/system/thread_controller.h
+++ b/firmware/controllers/system/thread_controller.h
@@ -19,6 +19,7 @@ class ThreadController : public chibios_rt::BaseStaticThread<TStackSize>
 {
 private:
 	const tprio_t m_prio;
+	bool m_started = false;
 
 protected:
 	// Override this function to implement your controller's thread's behavior.
@@ -44,6 +45,10 @@ public:
 	 */
 	void start()
 	{
-		chibios_rt::BaseStaticThread<TStackSize>::start(m_prio);
+		if (!m_started)
+		{
+			m_started = true;
+			chibios_rt::BaseStaticThread<TStackSize>::start(m_prio);
+		}
 	}
 };