diff --git a/speeduino/idle.h b/speeduino/idle.h
index 5e1eb8e9..c6cae02b 100644
--- a/speeduino/idle.h
+++ b/speeduino/idle.h
@@ -69,7 +69,7 @@ uint8_t idleTaper;
 byte idleUpOutputHIGH = HIGH; // Used to invert the idle Up Output 
 byte idleUpOutputLOW = LOW;   // Used to invert the idle Up Output 
 
-void initialiseIdle();
+void initialiseIdle(bool forcehoming);
 void initialiseIdleUpOutput();
 void disableIdle();
 void idleInterrupt();
diff --git a/speeduino/idle.ino b/speeduino/idle.ino
index 5fa33b92..febcde77 100644
--- a/speeduino/idle.ino
+++ b/speeduino/idle.ino
@@ -32,7 +32,7 @@ static inline void enableIdle()
   }
 }
 
-void initialiseIdle()
+void initialiseIdle(bool forcehoming)
 {
   //By default, turn off the PWM interrupt (It gets turned on below if needed)
   IDLE_TIMER_DISABLE();
@@ -154,7 +154,7 @@ void initialiseIdle()
       iacStepTime_uS = configPage6.iacStepTime * 1000;
       iacCoolTime_uS = configPage9.iacCoolTime * 1000;
 
-      if( completedHomeSteps < (configPage6.iacStepHome * 3) )
+      if (forcehoming)
       {
         //Change between modes running make engine stall
         completedHomeSteps = 0;
@@ -185,7 +185,7 @@ void initialiseIdle()
       iacStepTime_uS = configPage6.iacStepTime * 1000;
       iacCoolTime_uS = configPage9.iacCoolTime * 1000;
 
-      if( completedHomeSteps < (configPage6.iacStepHome * 3) )
+      if (forcehoming)
       {
         //Change between modes running make engine stall
         completedHomeSteps = 0;
@@ -229,7 +229,7 @@ void initialiseIdle()
       iacStepTime_uS = configPage6.iacStepTime * 1000;
       iacCoolTime_uS = configPage9.iacCoolTime * 1000;
 
-      if( completedHomeSteps < (configPage6.iacStepHome * 3) )
+      if (forcehoming)
       {
         //Change between modes running make engine stall
         completedHomeSteps = 0;
@@ -393,7 +393,7 @@ static inline byte isStepperHomed()
 
 void idleControl()
 {
-  if( idleInitComplete != configPage6.iacAlgorithm) { initialiseIdle(); }
+  if( idleInitComplete != configPage6.iacAlgorithm) { initialiseIdle(false); }
   if( (currentStatus.RPM > 0) || (configPage6.iacPWMrun == true) ) { enableIdle(); }
 
   //Check whether the idleUp is active
@@ -685,6 +685,7 @@ void idleControl()
           }
           
           doStep();
+          idleTaper = 0;
           idle_pid_target_value = idleStepper.targetIdleStep << 2; //Resolution increased
           idlePID.ResetIntegeral();
           FeedForwardTerm = idle_pid_target_value;
@@ -703,6 +704,7 @@ void idleControl()
 
               //Tapering between cranking IAC value and running
               FeedForwardTerm = map(idleTaper, 0, configPage2.idleTaperTime, minValue, maxValue)<<2;
+              idleTaper++;
               idle_pid_target_value = FeedForwardTerm;
             }
             else if (configPage6.iacAlgorithm == IAC_ALGORITHM_STEP_OLCL)
diff --git a/speeduino/init.ino b/speeduino/init.ino
index 5ca4cdc2..c7eb754f 100644
--- a/speeduino/init.ino
+++ b/speeduino/init.ino
@@ -342,7 +342,7 @@ void initialiseAll()
     //Perform all initialisations
     initialiseSchedulers();
     //initialiseDisplay();
-    initialiseIdle();
+    initialiseIdle(true);
     initialiseFan();
     initialiseAirCon();
     initialiseAuxPWM();
diff --git a/speeduino/sensors.ino b/speeduino/sensors.ino
index 5ada90c9..9b46f74d 100644
--- a/speeduino/sensors.ino
+++ b/speeduino/sensors.ino
@@ -593,7 +593,7 @@ void readBat()
     //Redo the stepper homing
     if( (configPage6.iacAlgorithm == IAC_ALGORITHM_STEP_CL) || (configPage6.iacAlgorithm == IAC_ALGORITHM_STEP_OL) )
     {
-      initialiseIdle();
+      initialiseIdle(true);
     }
   }