diff --git a/firmware/controllers/core/interpolation.cpp b/firmware/controllers/core/interpolation.cpp
index c606bb6591..90223b0ec7 100644
--- a/firmware/controllers/core/interpolation.cpp
+++ b/firmware/controllers/core/interpolation.cpp
@@ -129,6 +129,17 @@ float interpolate(float x1, float y1, float x2, float y2, float x) {
 	return interpolateMsg("", x1, y1, x2, y2, x);
 }
 
+float interpolateClamped(float x1, float y1, float x2, float y2, float x) {
+	if (x <= x1)
+		return y1;
+	if (x >= x2)
+		return y2;
+
+	float a = INTERPOLATION_A(x1, y1, x2, y2);
+	float b = y1 - a * x1;
+	return a * x + b;
+}
+
 /**
  * Another implementation, which one is faster?
  */
diff --git a/firmware/controllers/core/interpolation.h b/firmware/controllers/core/interpolation.h
index ae85c8d5f7..71ff04579a 100644
--- a/firmware/controllers/core/interpolation.h
+++ b/firmware/controllers/core/interpolation.h
@@ -25,6 +25,7 @@ int findIndexMsg(const char *msg, const float array[], int size, float value);
 void ensureArrayIsAscending(const char *msg, const float array[], int size);
 int findIndex2(const float array[], unsigned size, float value);
 float interpolate(float x1, float y1, float x2, float y2, float x);
+float interpolateClamped(float x1, float y1, float x2, float y2, float x);
 float interpolateMsg(const char *msg, float x1, float y1, float x2, float y2, float x);
 float interpolate2d(const char *msg, float value, float bin[], float values[], int size);
 
diff --git a/firmware/controllers/idle_thread.cpp b/firmware/controllers/idle_thread.cpp
index 5e157bc020..6e5fac9baa 100644
--- a/firmware/controllers/idle_thread.cpp
+++ b/firmware/controllers/idle_thread.cpp
@@ -54,6 +54,9 @@ static StepperMotor iacMotor;
 
 static int adjustedTargetRpm;
 
+static uint32_t lastCrankingCyclesCounter = 0;
+static float lastCrankingIacPosition;
+
 /**
  * that's current position with CLT and IAT corrections
  */
@@ -213,11 +216,21 @@ static msg_t ivThread(int param) {
 		} else if (!engine->rpmCalculator.isRunning(PASS_ENGINE_PARAMETER_SIGNATURE)) {
 			// during cranking it's always manual mode, PID would make no sence during cranking
 			iacPosition = cltCorrection * engineConfiguration->crankingIACposition;
-		} else if (engineConfiguration->idleMode == IM_MANUAL) {
-			// let's re-apply CLT correction
-			iacPosition = manualIdleController(cltCorrection);
+			// save cranking position & cycles counter for taper transition
+			lastCrankingIacPosition = iacPosition;
+			lastCrankingCyclesCounter = engine->rpmCalculator.getRevolutionCounterSinceStart();
 		} else {
-			iacPosition = autoIdle(cltCorrection);
+			if (engineConfiguration->idleMode == IM_MANUAL) {
+				// let's re-apply CLT correction
+				iacPosition = manualIdleController(cltCorrection);
+			} else {
+				iacPosition = autoIdle(cltCorrection);
+			}
+			// taper transition from cranking to running (uint32_t to float conversion is safe here)
+			if (engineConfiguration->afterCrankingIACtaperDuration > 0)
+				iacPosition = interpolateClamped(lastCrankingCyclesCounter, lastCrankingIacPosition, 
+					lastCrankingCyclesCounter + engineConfiguration->afterCrankingIACtaperDuration, iacPosition, 
+					engine->rpmCalculator.getRevolutionCounterSinceStart());
 		}
 
 		if (absF(iacPosition - currentIdlePosition) < 1) {