diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index dcae20923..31b36bb9d 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -187,7 +187,7 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"debug",    2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"debug",    3, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     /* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
-    {"motor",      0, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
+    {"motor",      0, UNSIGNED, .Ipredict = PREDICT(MINMOTOR), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
     /* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
     {"motor",      1, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_2)},
     {"motor",      2, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_3)},
@@ -291,6 +291,8 @@ typedef struct blackboxSlowState_s {
 
 //From mixer.c:
 extern uint8_t motorCount;
+extern uint16_t motorOutputHigh, motorOutputLow;
+
 
 //From rc_controls.c
 extern uint32_t rcModeActivationMask;
@@ -539,8 +541,8 @@ static void writeIntraframe(void)
     blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT);
     blackboxWriteSigned16VBArray(blackboxCurrent->debug, 4);
 
-    //Motors can be below minthrottle when disarmed, but that doesn't happen much
-    blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorConfig()->minthrottle);
+    //Motors can be below minimum output when disarmed, but that doesn't happen much
+    blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorOutputLow);
 
     //Motors tend to be similar to each other so use the first motor's value as a predictor of the others
     for (x = 1; x < motorCount; x++) {
@@ -1176,6 +1178,7 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d",                    blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
         BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d",                      motorConfig()->minthrottle);
         BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d",                      motorConfig()->maxthrottle);
+        BLACKBOX_PRINT_HEADER_LINE("motorOutput:%d,%d",                   motorOutputLow,motorOutputHigh);
         BLACKBOX_PRINT_HEADER_LINE("gyro_scale:0x%x",                     castFloatBytesToInt(gyro.dev.scale));
         BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u",                           acc.dev.acc_1G);
 
@@ -1282,6 +1285,7 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d",                motorConfig()->useUnsyncedPwm);
         BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d",                motorConfig()->motorPwmProtocol);
         BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d",                   motorConfig()->motorPwmRate);
+        BLACKBOX_PRINT_HEADER_LINE("digitalIdleOffset:%d",          (int)(motorConfig()->digitalIdleOffsetPercent * 100.0f));
         BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d",                       masterConfig.debug_mode);
         BLACKBOX_PRINT_HEADER_LINE("features:%d",                         masterConfig.enabledFeatures);
 
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index 490c271b2..c7aba8af6 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -80,7 +80,10 @@ typedef enum FlightLogFieldPredictor {
     FLIGHT_LOG_FIELD_PREDICTOR_VBATREF        = 9,
 
     //Predict the last time value written in the main stream
-    FLIGHT_LOG_FIELD_PREDICTOR_LAST_MAIN_FRAME_TIME = 10
+    FLIGHT_LOG_FIELD_PREDICTOR_LAST_MAIN_FRAME_TIME = 10,
+
+    //Predict that this field is the minimum motor output
+    FLIGHT_LOG_FIELD_PREDICTOR_MINMOTOR       = 11
 
 } FlightLogFieldPredictor;
 
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 07b12681a..7274d98ba 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -236,7 +236,8 @@ const mixer_t mixers[] = {
 
 static motorMixer_t *customMixers;
 
-static uint16_t disarmMotorOutput, motorOutputHigh, motorOutputLow, deadbandMotor3dHigh, deadbandMotor3dLow;
+static uint16_t disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
+uint16_t motorOutputHigh, motorOutputLow;
 static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
 
 uint8_t getMotorCount() {