diff --git a/src/main/drivers/pwm_esc_detect.c b/src/main/drivers/pwm_esc_detect.c
index ae3c52e5a..11cd951ee 100644
--- a/src/main/drivers/pwm_esc_detect.c
+++ b/src/main/drivers/pwm_esc_detect.c
@@ -24,33 +24,36 @@
 
 #include "platform.h"
 
+#ifdef USE_BRUSHED_ESC_AUTODETECT
+
 #include "build/build_config.h"
 
-#include "drivers/time.h"
 #include "drivers/io.h"
+#include "drivers/time.h"
+#include "drivers/timer.h"
+
 #include "pwm_esc_detect.h"
-#include "timer.h"
 
-#ifdef USE_BRUSHED_ESC_AUTODETECT
-uint8_t hardwareMotorType = MOTOR_UNKNOWN;
+static uint8_t hardwareMotorType = MOTOR_UNKNOWN;
 
-void detectBrushedESC(void)
+void detectBrushedESC(ioTag_t motorIoTag)
 {
-    int i = 0;
-    while (!(TIMER_HARDWARE[i].usageFlags & TIM_USE_MOTOR) && (i < TIMER_CHANNEL_COUNT)) {
-        i++;
-    }
-    IO_t MotorDetectPin = IOGetByTag(TIMER_HARDWARE[i].tag);
-    IOInit(MotorDetectPin, OWNER_SYSTEM, 0);
-    IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
+    IO_t motorDetectPin = IOGetByTag(motorIoTag);
+    IOInit(motorDetectPin, OWNER_SYSTEM, 0);
+    IOConfigGPIO(motorDetectPin, IOCFG_IPU);
 
     delayMicroseconds(10);  // allow configuration to settle
 
     // Check presence of brushed ESC's
-    if (IORead(MotorDetectPin)) {
+    if (IORead(motorDetectPin)) {
         hardwareMotorType = MOTOR_BRUSHLESS;
     } else {
         hardwareMotorType = MOTOR_BRUSHED;
     }
 }
+
+uint8_t getDetectedMotorType(void)
+{
+    return hardwareMotorType;
+}
 #endif
diff --git a/src/main/drivers/pwm_esc_detect.h b/src/main/drivers/pwm_esc_detect.h
index c0fc64fd3..ee1310986 100644
--- a/src/main/drivers/pwm_esc_detect.h
+++ b/src/main/drivers/pwm_esc_detect.h
@@ -20,14 +20,13 @@
 
 #pragma once
 
-#ifdef USE_BRUSHED_ESC_AUTODETECT
+#include "drivers/io_types.h"
+
 typedef enum {
     MOTOR_UNKNOWN = 0,
     MOTOR_BRUSHED,
     MOTOR_BRUSHLESS
 } HardwareMotorTypes_e;
 
-extern uint8_t hardwareMotorType;
-
-void detectBrushedESC(void);
-#endif
+void detectBrushedESC(ioTag_t motorIoTag);
+uint8_t getDetectedMotorType(void);
diff --git a/src/main/fc/init.c b/src/main/fc/init.c
index b613b78a3..1b78b59bf 100644
--- a/src/main/fc/init.c
+++ b/src/main/fc/init.c
@@ -261,7 +261,13 @@ void init(void)
 #endif
 
 #ifdef USE_BRUSHED_ESC_AUTODETECT
-    detectBrushedESC();
+    // Opportunistically use the first motor pin of the default configuration for detection.
+    // We are doing this as with some boards, timing seems to be important, and the later detection will fail.
+    ioTag_t motorIoTag = timerioTagGetByUsage(TIM_USE_MOTOR, 0);
+
+    if (motorIoTag) {
+        detectBrushedESC(motorIoTag);
+    }
 #endif
 
     initEEPROM();
@@ -280,6 +286,15 @@ void init(void)
 
     systemState |= SYSTEM_STATE_CONFIG_LOADED;
 
+#ifdef USE_BRUSHED_ESC_AUTODETECT
+    // Now detect again with the actually configured pin for motor 1, if it is not the default pin.
+    ioTag_t configuredMotorIoTag = motorConfig()->dev.ioTags[0];
+
+    if (configuredMotorIoTag && configuredMotorIoTag != motorIoTag) {
+        detectBrushedESC(configuredMotorIoTag);
+    }
+#endif
+
     //i2cSetOverclock(masterConfig.i2c_overclock);
 
     debugMode = systemConfig()->debug_mode;
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 010d0c023..d81c543bb 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -86,7 +86,7 @@ void pgResetFn_motorConfig(motorConfig_t *motorConfig)
     motorConfig->dev.useUnsyncedPwm = true;
 #else
 #ifdef USE_BRUSHED_ESC_AUTODETECT
-    if (hardwareMotorType == MOTOR_BRUSHED) {
+    if (getDetectedMotorType() == MOTOR_BRUSHED) {
         motorConfig->minthrottle = 1000;
         motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
         motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
diff --git a/src/main/target/ALIENFLIGHTF1/config.c b/src/main/target/ALIENFLIGHTF1/config.c
index c85062947..ee3d48fbf 100644
--- a/src/main/target/ALIENFLIGHTF1/config.c
+++ b/src/main/target/ALIENFLIGHTF1/config.c
@@ -50,7 +50,7 @@ void targetConfiguration(void)
     rxConfigMutable()->spektrum_sat_bind = 5;
     rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
 
-    if (hardwareMotorType == MOTOR_BRUSHED) {
+    if (getDetectedMotorType() == MOTOR_BRUSHED) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
     }
 
diff --git a/src/main/target/ALIENFLIGHTF3/config.c b/src/main/target/ALIENFLIGHTF3/config.c
index e2d6fe454..74cb262da 100644
--- a/src/main/target/ALIENFLIGHTF3/config.c
+++ b/src/main/target/ALIENFLIGHTF3/config.c
@@ -110,7 +110,7 @@ void targetConfiguration(void)
         parseRcChannels("AETR1234", rxConfigMutable());
     }
 
-    if (hardwareMotorType == MOTOR_BRUSHED) {
+    if (getDetectedMotorType() == MOTOR_BRUSHED) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
         pidConfigMutable()->pid_process_denom = 1;
     }
diff --git a/src/main/target/ALIENFLIGHTF4/config.c b/src/main/target/ALIENFLIGHTF4/config.c
index deb4cf7ac..d970a0daa 100644
--- a/src/main/target/ALIENFLIGHTF4/config.c
+++ b/src/main/target/ALIENFLIGHTF4/config.c
@@ -57,7 +57,7 @@
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(void)
 {
-    if (hardwareMotorType == MOTOR_BRUSHED) {
+    if (getDetectedMotorType() == MOTOR_BRUSHED) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
         pidConfigMutable()->pid_process_denom = 1;
     }
diff --git a/src/main/target/ALIENFLIGHTNGF7/config.c b/src/main/target/ALIENFLIGHTNGF7/config.c
index b9f222e3c..8c4255dc1 100644
--- a/src/main/target/ALIENFLIGHTNGF7/config.c
+++ b/src/main/target/ALIENFLIGHTNGF7/config.c
@@ -56,7 +56,7 @@
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(void)
 {
-    if (hardwareMotorType == MOTOR_BRUSHED) {
+    if (getDetectedMotorType() == MOTOR_BRUSHED) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
         pidConfigMutable()->pid_process_denom = 1;
     }
diff --git a/src/main/target/ALIENWHOOP/config.c b/src/main/target/ALIENWHOOP/config.c
index 51b2b3f88..e19e2fdf4 100644
--- a/src/main/target/ALIENWHOOP/config.c
+++ b/src/main/target/ALIENWHOOP/config.c
@@ -72,7 +72,7 @@
 
 void targetConfiguration(void)
 {
-    if (hardwareMotorType == MOTOR_BRUSHED) {
+    if (getDetectedMotorType() == MOTOR_BRUSHED) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
         motorConfigMutable()->minthrottle = 1050; // for 6mm and 7mm brushed
     }
diff --git a/src/main/target/BEEBRAIN_V2F/config.c b/src/main/target/BEEBRAIN_V2F/config.c
index 80976b7cf..32083efba 100644
--- a/src/main/target/BEEBRAIN_V2F/config.c
+++ b/src/main/target/BEEBRAIN_V2F/config.c
@@ -68,7 +68,7 @@
 
 void targetConfiguration(void)
 {
-    if (hardwareMotorType == MOTOR_BRUSHED) {
+    if (getDetectedMotorType() == MOTOR_BRUSHED) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
         motorConfigMutable()->minthrottle = 1030;
         pidConfigMutable()->pid_process_denom = 1;
diff --git a/src/main/target/FF_PIKOBLX/config.c b/src/main/target/FF_PIKOBLX/config.c
index 6b02809b8..58c902b2d 100644
--- a/src/main/target/FF_PIKOBLX/config.c
+++ b/src/main/target/FF_PIKOBLX/config.c
@@ -54,7 +54,7 @@
 
 void targetConfiguration(void)
 {
-    if (hardwareMotorType == MOTOR_BRUSHED) {
+    if (getDetectedMotorType() == MOTOR_BRUSHED) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
         motorConfigMutable()->minthrottle = 1049;