diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index 8b912853c..1afbce395 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -52,8 +52,10 @@ typedef enum {
 #define PWM_BRUSHED_TIMER_MHZ 24
 #endif
 
-#ifdef USE_DSHOT
+#if defined(USE_DSHOT)
 #define MAX_DSHOT_MOTORS      4
+#else
+#define MAX_DSHOT_MOTORS      0
 #endif
 
 #define MOTOR_DMA_BUFFER_SIZE 18 /* resolution + frame reset (2us) */
diff --git a/src/main/telemetry/esc_telemetry.c b/src/main/telemetry/esc_telemetry.c
index c6c954303..6b57d07b8 100644
--- a/src/main/telemetry/esc_telemetry.c
+++ b/src/main/telemetry/esc_telemetry.c
@@ -56,6 +56,8 @@ set debug_mode = DEBUG_ESC_TELEMETRY in cli
 3: current
 */
 
+#ifdef USE_DSHOT
+
 typedef struct {
     bool skipped;
     int16_t temperature;
@@ -269,7 +271,7 @@ void escTelemetryProcess(uint32_t currentTime)
 static void selectNextMotor(void)
 {
     escTelemetryMotor++;
-    if (escTelemetryMotor >= MAX_DSHOT_MOTORS) {           // Motor count for Dshot limited to 4
+    if (escTelemetryMotor > MAX_DSHOT_MOTORS-1) {           // Motor count for Dshot limited to 4
         escTelemetryMotor = 0;
         firstCycleComplete = true;
     }
@@ -294,3 +296,5 @@ static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen)
     for(int i=0; i<BufLen; i++) crc = update_crc8(Buf[i], crc);
     return (crc);
 }
+
+#endif