diff --git a/idle.h b/idle.h
index 5096cf9..e948a68 100644
--- a/idle.h
+++ b/idle.h
@@ -23,6 +23,7 @@ struct table2D iacCrankDutyTable;
 
 struct StepperIdle idleStepper;
 bool idleOn; //Simply tracks whether idle was on last time around
+byte idleInitComplete = 99; //TRacks which idle method was initialised. 99 is a method that will never exist
 unsigned int iacStepTime;
 unsigned int completedHomeSteps;
 
diff --git a/idle.ino b/idle.ino
index f0907b9..2045fa3 100644
--- a/idle.ino
+++ b/idle.ino
@@ -110,11 +110,13 @@ void initialiseIdle()
       idleStepper.stepperStatus = SOFF;
       break;
   }
-  
+  idleInitComplete = configPage4.iacAlgorithm; //Sets which idle method was initialised
 }
 
 void idleControl()
 {
+  if(idleInitComplete != configPage4.iacAlgorithm) { initialiseIdle(); }
+  
   switch(configPage4.iacAlgorithm)
   {
     case 0:       //Case 0 is no idle control ('None')
diff --git a/reference/speeduino.ini b/reference/speeduino.ini
index 17bae30..ead363f 100644
--- a/reference/speeduino.ini
+++ b/reference/speeduino.ini
@@ -518,7 +518,6 @@ page = 9
     requiresPowerCycle = injOpen
     requiresPowerCycle = IgInv
     requiresPowerCycle = fanInv
-    requiresPowerCycle = iacAlgorithm
     requiresPowerCycle = boostEnabled
     requiresPowerCycle = vvtEnabled
 ;	requiresPowerCycle = vvtChannels