diff --git a/conf_general.h b/conf_general.h
index 9ca1f1a8c0..df9b90e9de 100644
--- a/conf_general.h
+++ b/conf_general.h
@@ -22,7 +22,7 @@
 
 // Firmware version
 #define FW_VERSION_MAJOR			5
-#define FW_VERSION_MINOR			01
+#define FW_VERSION_MINOR			02
 // Set to 0 for building a release and iterate during beta test builds
 #define FW_TEST_VERSION_NUMBER		0
 
diff --git a/confgenerator.c b/confgenerator.c
index 032dbd6ff9..3024d35c2b 100644
--- a/confgenerator.c
+++ b/confgenerator.c
@@ -107,6 +107,7 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer_append_uint16(buffer, conf->foc_hfi_start_samples, &ind);
 	buffer_append_float32_auto(buffer, conf->foc_hfi_obs_ovr_sec, &ind);
 	buffer[ind++] = conf->foc_hfi_samples;
+	buffer_append_float32_auto(buffer, conf->foc_hfi_disable_stopped_erpm, &ind);
 	buffer_append_int16(buffer, conf->gpd_buffer_notify_left, &ind);
 	buffer_append_int16(buffer, conf->gpd_buffer_interpol, &ind);
 	buffer_append_float32_auto(buffer, conf->gpd_current_filter_const, &ind);
@@ -399,6 +400,7 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
 	conf->foc_hfi_start_samples = buffer_get_uint16(buffer, &ind);
 	conf->foc_hfi_obs_ovr_sec = buffer_get_float32_auto(buffer, &ind);
 	conf->foc_hfi_samples = buffer[ind++];
+	conf->foc_hfi_disable_stopped_erpm = buffer_get_float32_auto(buffer, &ind);
 	conf->gpd_buffer_notify_left = buffer_get_int16(buffer, &ind);
 	conf->gpd_buffer_interpol = buffer_get_int16(buffer, &ind);
 	conf->gpd_current_filter_const = buffer_get_float32_auto(buffer, &ind);
@@ -687,6 +689,7 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
 	conf->foc_hfi_start_samples = MCCONF_FOC_HFI_START_SAMPLES;
 	conf->foc_hfi_obs_ovr_sec = MCCONF_FOC_HFI_OBS_OVR_SEC;
 	conf->foc_hfi_samples = MCCONF_FOC_HFI_SAMPLES;
+	conf->foc_hfi_disable_stopped_erpm = MCCONF_FOC_HFI_DISABLE_STOPPED_ERPM;
 	conf->gpd_buffer_notify_left = MCCONF_GPD_BUFFER_NOTIFY_LEFT;
 	conf->gpd_buffer_interpol = MCCONF_GPD_BUFFER_INTERPOL;
 	conf->gpd_current_filter_const = MCCONF_GPD_CURRENT_FILTER_CONST;
diff --git a/confgenerator.h b/confgenerator.h
index 0385c4fd63..816252379c 100644
--- a/confgenerator.h
+++ b/confgenerator.h
@@ -8,7 +8,7 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		3698540221
+#define MCCONF_SIGNATURE		1034840274
 #define APPCONF_SIGNATURE		2460147246
 
 // Functions
diff --git a/datatypes.h b/datatypes.h
index a170f0567b..1e56c5df64 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -308,6 +308,7 @@ typedef struct {
 	uint16_t foc_hfi_start_samples;
 	float foc_hfi_obs_ovr_sec;
 	foc_hfi_samples foc_hfi_samples;
+	float foc_hfi_disable_stopped_erpm;
 	// GPDrive
 	int gpd_buffer_notify_left;
 	int gpd_buffer_interpol;
diff --git a/mcconf/mcconf_default.h b/mcconf/mcconf_default.h
index fbd4337cf8..3ed78b85e5 100644
--- a/mcconf/mcconf_default.h
+++ b/mcconf/mcconf_default.h
@@ -359,6 +359,9 @@
 #ifndef MCCONF_FOC_HFI_SAMPLES
 #define MCCONF_FOC_HFI_SAMPLES			HFI_SAMPLES_16 // Samples per motor revolution for HFI
 #endif
+#ifndef MCCONF_FOC_HFI_DISABLE_STOPPED_ERPM
+#define MCCONF_FOC_HFI_DISABLE_STOPPED_ERPM 0.0
+#endif
 
 // GPD
 #ifndef MCCONF_GPD_BUFFER_NOTIFY_LEFT
diff --git a/mcpwm_foc.c b/mcpwm_foc.c
index c7154bfde8..97b8b8aa9b 100644
--- a/mcpwm_foc.c
+++ b/mcpwm_foc.c
@@ -3204,6 +3204,14 @@ static void control_current(volatile motor_all_state_t *motor, float dt) {
 	bool do_hfi = conf_now->foc_sensor_mode == FOC_SENSOR_MODE_HFI &&
 			!motor->m_phase_override &&
 			abs_rpm < (conf_now->foc_sl_erpm_hfi * (motor->m_cc_was_hfi ? 1.8 : 1.5));
+
+	if (do_hfi && abs_rpm < conf_now->foc_hfi_disable_stopped_erpm &&
+			((motor->m_control_mode == CONTROL_MODE_DUTY && motor->m_duty_cycle_set == 0) ||
+			(motor->m_control_mode == CONTROL_MODE_SPEED && motor->m_speed_pid_set_rpm == 0))){
+			do_hfi = false;
+			motor->m_hfi.est_done_cnt = 0;
+	}
+
 	motor->m_cc_was_hfi = do_hfi;
 
 	// Only allow Q axis current after the HFI ambiguity is resolved. This causes