diff --git a/firmware/controllers/actuators/idle_thread.cpp b/firmware/controllers/actuators/idle_thread.cpp
index be580e66ae..016d117e73 100644
--- a/firmware/controllers/actuators/idle_thread.cpp
+++ b/firmware/controllers/actuators/idle_thread.cpp
@@ -292,7 +292,7 @@ float IdleController::getIdlePosition() {
 		if (useInstantRpmForIdle) {
 			rpm = engine->triggerCentral.triggerState.getInstantRpm();
 		} else {
-			rpm = GET_RPM();
+			rpm = Sensor::getOrZero(SensorType::Rpm);
 		}
 
 		// Compute the target we're shooting for
diff --git a/unit_tests/tests/test_idle_controller.cpp b/unit_tests/tests/test_idle_controller.cpp
index 09d8c94a3c..67d0bcb151 100644
--- a/unit_tests/tests/test_idle_controller.cpp
+++ b/unit_tests/tests/test_idle_controller.cpp
@@ -370,7 +370,7 @@ TEST(idle_v2, IntegrationManual) {
 	Sensor::setMockValue(SensorType::DriverThrottleIntent, expectedTps.Value);
 	Sensor::setMockValue(SensorType::Clt, expectedClt);
 	Sensor::setMockValue(SensorType::VehicleSpeed, 15.0);
-	engine->rpmCalculator.mockRpm = 950;
+	Sensor::setMockValue(SensorType::Rpm,  950);
 
 	// Target of 1000 rpm
 	EXPECT_CALL(dut, getTargetRpm(expectedClt))
@@ -404,7 +404,7 @@ TEST(idle_v2, IntegrationAutomatic) {
 	Sensor::setMockValue(SensorType::DriverThrottleIntent, expectedTps.Value);
 	Sensor::setMockValue(SensorType::Clt, expectedClt);
 	Sensor::setMockValue(SensorType::VehicleSpeed, 15.0);
-	engine->rpmCalculator.mockRpm = 950;
+	Sensor::setMockValue(SensorType::Rpm,  950);
 
 	// Target of 1000 rpm
 	EXPECT_CALL(dut, getTargetRpm(expectedClt))
@@ -441,7 +441,7 @@ TEST(idle_v2, IntegrationClamping) {
 	Sensor::setMockValue(SensorType::DriverThrottleIntent, expectedTps.Value);
 	Sensor::setMockValue(SensorType::Clt, expectedClt);
 	Sensor::setMockValue(SensorType::VehicleSpeed, 15.0);
-	engine->rpmCalculator.mockRpm = 950;
+	Sensor::setMockValue(SensorType::Rpm,  950);
 
 	// Target of 1000 rpm
 	EXPECT_CALL(dut, getTargetRpm(expectedClt))