diff --git a/src/config/config.h b/src/config/config.h
index 6988267880..6975aa191d 100644
--- a/src/config/config.h
+++ b/src/config/config.h
@@ -61,45 +61,46 @@
 
 
 // Task priorities. Higher number higher priority
-#define PASSTHROUGH_TASK_PRI    5
-#define STABILIZER_TASK_PRI     5
-#define SENSORS_TASK_PRI        4
-#define ADC_TASK_PRI            3
-#define FLOW_TASK_PRI           3
-#define MULTIRANGER_TASK_PRI    3
-#define SYSTEM_TASK_PRI         2
-#define CRTP_TX_TASK_PRI        2
-#define CRTP_RX_TASK_PRI        2
-#define EXTRX_TASK_PRI          2
-#define ZRANGER_TASK_PRI        2
-#define ZRANGER2_TASK_PRI       2
-#define LOG_TASK_PRI            1
-#define MEM_TASK_PRI            1
-#define PARAM_TASK_PRI          1
-#define PROXIMITY_TASK_PRI      0
-#define PM_TASK_PRI             0
-#define USDLOG_TASK_PRI         1
-#define USDWRITE_TASK_PRI       0
-#define PCA9685_TASK_PRI        2
-#define CMD_HIGH_LEVEL_TASK_PRI 2
-#define BQ_OSD_TASK_PRI         1
-#define GTGPS_DECK_TASK_PRI     1
-#define LIGHTHOUSE_TASK_PRI     3
-#define LPS_DECK_TASK_PRI       3
-#define OA_DECK_TASK_PRI        3
-#define UART1_TEST_TASK_PRI     1
-#define UART2_TEST_TASK_PRI     1
-#define KALMAN_TASK_PRI         2
-#define ERROR_UKF_TASK_PRI      2
-#define LEDSEQCMD_TASK_PRI      1
-#define FLAPPERDECK_TASK_PRI    2
-#define SYSLINK_TASK_PRI        3
-#define USBLINK_TASK_PRI        3
-#define ACTIVE_MARKER_TASK_PRI  3
-#define AI_DECK_TASK_PRI        1
-#define UART2_TASK_PRI          3
-#define CRTP_SRV_TASK_PRI       0
-#define PLATFORM_SRV_TASK_PRI   0
+#define PASSTHROUGH_TASK_PRI      5
+#define STABILIZER_TASK_PRI       5
+#define RATE_SUPERVISOR_TASK_PRI  5
+#define SENSORS_TASK_PRI          4
+#define ADC_TASK_PRI              3
+#define FLOW_TASK_PRI             3
+#define MULTIRANGER_TASK_PRI      3
+#define SYSTEM_TASK_PRI           2
+#define CRTP_TX_TASK_PRI          2
+#define CRTP_RX_TASK_PRI          2
+#define EXTRX_TASK_PRI            2
+#define ZRANGER_TASK_PRI          2
+#define ZRANGER2_TASK_PRI         2
+#define LOG_TASK_PRI              1
+#define MEM_TASK_PRI              1
+#define PARAM_TASK_PRI            1
+#define PROXIMITY_TASK_PRI        0
+#define PM_TASK_PRI               0
+#define USDLOG_TASK_PRI           1
+#define USDWRITE_TASK_PRI         0
+#define PCA9685_TASK_PRI          2
+#define CMD_HIGH_LEVEL_TASK_PRI   2
+#define BQ_OSD_TASK_PRI           1
+#define GTGPS_DECK_TASK_PRI       1
+#define LIGHTHOUSE_TASK_PRI       3
+#define LPS_DECK_TASK_PRI         3
+#define OA_DECK_TASK_PRI          3
+#define UART1_TEST_TASK_PRI       1
+#define UART2_TEST_TASK_PRI       1
+#define KALMAN_TASK_PRI           2
+#define ERROR_UKF_TASK_PRI        2
+#define LEDSEQCMD_TASK_PRI        1
+#define FLAPPERDECK_TASK_PRI      2
+#define SYSLINK_TASK_PRI          3
+#define USBLINK_TASK_PRI          3
+#define ACTIVE_MARKER_TASK_PRI    3
+#define AI_DECK_TASK_PRI          1
+#define UART2_TASK_PRI            3
+#define CRTP_SRV_TASK_PRI         0
+#define PLATFORM_SRV_TASK_PRI     0
 
 // Not compiled
 #if 0
@@ -109,101 +110,103 @@
 
 
 // Task names
-#define SYSTEM_TASK_NAME        "SYSTEM"
-#define LEDSEQCMD_TASK_NAME     "LEDSEQCMD"
-#define ADC_TASK_NAME           "ADC"
-#define PM_TASK_NAME            "PWRMGNT"
-#define CRTP_TX_TASK_NAME       "CRTP-TX"
-#define CRTP_RX_TASK_NAME       "CRTP-RX"
-#define CRTP_RXTX_TASK_NAME     "CRTP-RXTX"
-#define LOG_TASK_NAME           "LOG"
-#define MEM_TASK_NAME           "MEM"
-#define PARAM_TASK_NAME         "PARAM"
-#define SENSORS_TASK_NAME       "SENSORS"
-#define STABILIZER_TASK_NAME    "STABILIZER"
-#define NRF24LINK_TASK_NAME     "NRF24LINK"
-#define ESKYLINK_TASK_NAME      "ESKYLINK"
-#define SYSLINK_TASK_NAME       "SYSLINK"
-#define USBLINK_TASK_NAME       "USBLINK"
-#define PROXIMITY_TASK_NAME     "PROXIMITY"
-#define EXTRX_TASK_NAME         "EXTRX"
-#define UART_RX_TASK_NAME       "UART"
-#define ZRANGER_TASK_NAME       "ZRANGER"
-#define ZRANGER2_TASK_NAME      "ZRANGER2"
-#define FLOW_TASK_NAME          "FLOW"
-#define USDLOG_TASK_NAME        "USDLOG"
-#define USDWRITE_TASK_NAME      "USDWRITE"
-#define PCA9685_TASK_NAME       "PCA9685"
-#define CMD_HIGH_LEVEL_TASK_NAME "CMDHL"
-#define MULTIRANGER_TASK_NAME   "MR"
-#define BQ_OSD_TASK_NAME        "BQ_OSDTASK"
-#define GTGPS_DECK_TASK_NAME    "GTGPS"
-#define LIGHTHOUSE_TASK_NAME    "LH"
-#define LPS_DECK_TASK_NAME      "LPS"
-#define OA_DECK_TASK_NAME       "OA"
-#define UART1_TEST_TASK_NAME    "UART1TEST"
-#define UART2_TEST_TASK_NAME    "UART2TEST"
-#define KALMAN_TASK_NAME        "KALMAN"
-#define ERROR_UKF_TASK_NAME     "ERROR_UKF"
-#define ACTIVE_MARKER_TASK_NAME "ACTIVEMARKER-DECK"
-#define AI_DECK_GAP_TASK_NAME   "AI-DECK-GAP"
-#define AIDECK_ESP_TX_TASK_NAME "AI-DECK ESP TX"
-#define AIDECK_ESP_RX_TASK_NAME "AI-DECK ESP RX"
-#define UART2_TASK_NAME         "UART2"
-#define CRTP_SRV_TASK_NAME      "CRTP-SRV"
-#define PLATFORM_SRV_TASK_NAME  "PLATFORM-SRV"
-#define PASSTHROUGH_TASK_NAME   "PASSTHROUGH"
-#define CPX_RT_UART_TASK_NAME   "ROUTER FROM UART2"
-#define CPX_RT_INT_TASK_NAME    "ROUTER FROM INTERNAL"
-#define CPX_TASK_NAME           "CPX"
-#define APP_TASK_NAME           "APP"
-#define FLAPPERDECK_TASK_NAME   "FLAPPERDECK"
+#define SYSTEM_TASK_NAME          "SYSTEM"
+#define LEDSEQCMD_TASK_NAME       "LEDSEQCMD"
+#define ADC_TASK_NAME             "ADC"
+#define PM_TASK_NAME              "PWRMGNT"
+#define CRTP_TX_TASK_NAME         "CRTP-TX"
+#define CRTP_RX_TASK_NAME         "CRTP-RX"
+#define CRTP_RXTX_TASK_NAME       "CRTP-RXTX"
+#define LOG_TASK_NAME             "LOG"
+#define MEM_TASK_NAME             "MEM"
+#define PARAM_TASK_NAME           "PARAM"
+#define SENSORS_TASK_NAME         "SENSORS"
+#define STABILIZER_TASK_NAME      "STABILIZER"
+#define RATE_SUPERVISOR_TASK_NAME "RATE_SUPERVISOR"
+#define NRF24LINK_TASK_NAME       "NRF24LINK"
+#define ESKYLINK_TASK_NAME        "ESKYLINK"
+#define SYSLINK_TASK_NAME         "SYSLINK"
+#define USBLINK_TASK_NAME         "USBLINK"
+#define PROXIMITY_TASK_NAME       "PROXIMITY"
+#define EXTRX_TASK_NAME           "EXTRX"
+#define UART_RX_TASK_NAME         "UART"
+#define ZRANGER_TASK_NAME         "ZRANGER"
+#define ZRANGER2_TASK_NAME        "ZRANGER2"
+#define FLOW_TASK_NAME            "FLOW"
+#define USDLOG_TASK_NAME          "USDLOG"
+#define USDWRITE_TASK_NAME        "USDWRITE"
+#define PCA9685_TASK_NAME         "PCA9685"
+#define CMD_HIGH_LEVEL_TASK_NAME  "CMDHL"
+#define MULTIRANGER_TASK_NAME     "MR"
+#define BQ_OSD_TASK_NAME          "BQ_OSDTASK"
+#define GTGPS_DECK_TASK_NAME      "GTGPS"
+#define LIGHTHOUSE_TASK_NAME      "LH"
+#define LPS_DECK_TASK_NAME        "LPS"
+#define OA_DECK_TASK_NAME         "OA"
+#define UART1_TEST_TASK_NAME      "UART1TEST"
+#define UART2_TEST_TASK_NAME      "UART2TEST"
+#define KALMAN_TASK_NAME          "KALMAN"
+#define ERROR_UKF_TASK_NAME       "ERROR_UKF"
+#define ACTIVE_MARKER_TASK_NAME   "ACTIVEMARKER-DECK"
+#define AI_DECK_GAP_TASK_NAME     "AI-DECK-GAP"
+#define AIDECK_ESP_TX_TASK_NAME   "AI-DECK ESP TX"
+#define AIDECK_ESP_RX_TASK_NAME   "AI-DECK ESP RX"
+#define UART2_TASK_NAME           "UART2"
+#define CRTP_SRV_TASK_NAME        "CRTP-SRV"
+#define PLATFORM_SRV_TASK_NAME    "PLATFORM-SRV"
+#define PASSTHROUGH_TASK_NAME     "PASSTHROUGH"
+#define CPX_RT_UART_TASK_NAME     "ROUTER FROM UART2"
+#define CPX_RT_INT_TASK_NAME      "ROUTER FROM INTERNAL"
+#define CPX_TASK_NAME             "CPX"
+#define APP_TASK_NAME             "APP"
+#define FLAPPERDECK_TASK_NAME     "FLAPPERDECK"
 
 
 //Task stack sizes
-#define SYSTEM_TASK_STACKSIZE         (2* configMINIMAL_STACK_SIZE)
-#define LEDSEQCMD_TASK_STACKSIZE      configMINIMAL_STACK_SIZE
-#define ADC_TASK_STACKSIZE            configMINIMAL_STACK_SIZE
-#define PM_TASK_STACKSIZE             configMINIMAL_STACK_SIZE
-#define CRTP_TX_TASK_STACKSIZE        configMINIMAL_STACK_SIZE
-#define CRTP_RX_TASK_STACKSIZE        (2* configMINIMAL_STACK_SIZE)
-#define CRTP_RXTX_TASK_STACKSIZE      configMINIMAL_STACK_SIZE
-#define LOG_TASK_STACKSIZE            (2 * configMINIMAL_STACK_SIZE)
-#define MEM_TASK_STACKSIZE            (2 * configMINIMAL_STACK_SIZE)
-#define PARAM_TASK_STACKSIZE          (2 * configMINIMAL_STACK_SIZE)
-#define SENSORS_TASK_STACKSIZE        (2 * configMINIMAL_STACK_SIZE)
-#define STABILIZER_TASK_STACKSIZE     (3 * configMINIMAL_STACK_SIZE)
-#define NRF24LINK_TASK_STACKSIZE      configMINIMAL_STACK_SIZE
-#define ESKYLINK_TASK_STACKSIZE       configMINIMAL_STACK_SIZE
-#define SYSLINK_TASK_STACKSIZE        (2 * configMINIMAL_STACK_SIZE)
-#define USBLINK_TASK_STACKSIZE        configMINIMAL_STACK_SIZE
-#define PROXIMITY_TASK_STACKSIZE      configMINIMAL_STACK_SIZE
-#define EXTRX_TASK_STACKSIZE          configMINIMAL_STACK_SIZE
-#define UART_RX_TASK_STACKSIZE        configMINIMAL_STACK_SIZE
-#define ZRANGER_TASK_STACKSIZE        (2 * configMINIMAL_STACK_SIZE)
-#define ZRANGER2_TASK_STACKSIZE       (2 * configMINIMAL_STACK_SIZE)
-#define FLOW_TASK_STACKSIZE           (2 * configMINIMAL_STACK_SIZE)
-#define USDLOG_TASK_STACKSIZE         (2 * configMINIMAL_STACK_SIZE)
-#define USDWRITE_TASK_STACKSIZE       (3 * configMINIMAL_STACK_SIZE)
-#define PCA9685_TASK_STACKSIZE        (2 * configMINIMAL_STACK_SIZE)
-#define CMD_HIGH_LEVEL_TASK_STACKSIZE (2 * configMINIMAL_STACK_SIZE)
-#define MULTIRANGER_TASK_STACKSIZE    (2 * configMINIMAL_STACK_SIZE)
-#define ACTIVEMARKER_TASK_STACKSIZE   configMINIMAL_STACK_SIZE
-#define AI_DECK_TASK_STACKSIZE        configMINIMAL_STACK_SIZE
-#define UART2_TASK_STACKSIZE          configMINIMAL_STACK_SIZE
-#define CRTP_SRV_TASK_STACKSIZE       configMINIMAL_STACK_SIZE
-#define PLATFORM_SRV_TASK_STACKSIZE   configMINIMAL_STACK_SIZE
-#define PASSTHROUGH_TASK_STACKSIZE    (2 * configMINIMAL_STACK_SIZE)
-#define BQ_OSD_TASK_STACKSIZE         configMINIMAL_STACK_SIZE
-#define GTGPS_DECK_TASK_STACKSIZE     configMINIMAL_STACK_SIZE
-#define UART1_TEST_TASK_STACKSIZE     configMINIMAL_STACK_SIZE
-#define UART2_TEST_TASK_STACKSIZE     configMINIMAL_STACK_SIZE
-#define LIGHTHOUSE_TASK_STACKSIZE     (2 * configMINIMAL_STACK_SIZE)
-#define LPS_DECK_STACKSIZE            (3 * configMINIMAL_STACK_SIZE)
-#define OA_DECK_TASK_STACKSIZE        (2 * configMINIMAL_STACK_SIZE)
-#define KALMAN_TASK_STACKSIZE         (3 * configMINIMAL_STACK_SIZE)
-#define FLAPPERDECK_TASK_STACKSIZE    (2 * configMINIMAL_STACK_SIZE)
-#define ERROR_UKF_TASK_STACKSIZE      (4 * configMINIMAL_STACK_SIZE)
+#define SYSTEM_TASK_STACKSIZE           (2* configMINIMAL_STACK_SIZE)
+#define LEDSEQCMD_TASK_STACKSIZE        configMINIMAL_STACK_SIZE
+#define ADC_TASK_STACKSIZE              configMINIMAL_STACK_SIZE
+#define PM_TASK_STACKSIZE               configMINIMAL_STACK_SIZE
+#define CRTP_TX_TASK_STACKSIZE          configMINIMAL_STACK_SIZE
+#define CRTP_RX_TASK_STACKSIZE          (2* configMINIMAL_STACK_SIZE)
+#define CRTP_RXTX_TASK_STACKSIZE        configMINIMAL_STACK_SIZE
+#define LOG_TASK_STACKSIZE              (2 * configMINIMAL_STACK_SIZE)
+#define MEM_TASK_STACKSIZE              (2 * configMINIMAL_STACK_SIZE)
+#define PARAM_TASK_STACKSIZE            (2 * configMINIMAL_STACK_SIZE)
+#define SENSORS_TASK_STACKSIZE          (2 * configMINIMAL_STACK_SIZE)
+#define STABILIZER_TASK_STACKSIZE       (3 * configMINIMAL_STACK_SIZE)
+#define RATE_SUPERVISOR_TASK_STACKSIZE  configMINIMAL_STACK_SIZE
+#define NRF24LINK_TASK_STACKSIZE        configMINIMAL_STACK_SIZE
+#define ESKYLINK_TASK_STACKSIZE         configMINIMAL_STACK_SIZE
+#define SYSLINK_TASK_STACKSIZE          (2 * configMINIMAL_STACK_SIZE)
+#define USBLINK_TASK_STACKSIZE          configMINIMAL_STACK_SIZE
+#define PROXIMITY_TASK_STACKSIZE        configMINIMAL_STACK_SIZE
+#define EXTRX_TASK_STACKSIZE            configMINIMAL_STACK_SIZE
+#define UART_RX_TASK_STACKSIZE          configMINIMAL_STACK_SIZE
+#define ZRANGER_TASK_STACKSIZE          (2 * configMINIMAL_STACK_SIZE)
+#define ZRANGER2_TASK_STACKSIZE         (2 * configMINIMAL_STACK_SIZE)
+#define FLOW_TASK_STACKSIZE             (2 * configMINIMAL_STACK_SIZE)
+#define USDLOG_TASK_STACKSIZE           (2 * configMINIMAL_STACK_SIZE)
+#define USDWRITE_TASK_STACKSIZE         (3 * configMINIMAL_STACK_SIZE)
+#define PCA9685_TASK_STACKSIZE          (2 * configMINIMAL_STACK_SIZE)
+#define CMD_HIGH_LEVEL_TASK_STACKSIZE   (2 * configMINIMAL_STACK_SIZE)
+#define MULTIRANGER_TASK_STACKSIZE      (2 * configMINIMAL_STACK_SIZE)
+#define ACTIVEMARKER_TASK_STACKSIZE     configMINIMAL_STACK_SIZE
+#define AI_DECK_TASK_STACKSIZE          configMINIMAL_STACK_SIZE
+#define UART2_TASK_STACKSIZE            configMINIMAL_STACK_SIZE
+#define CRTP_SRV_TASK_STACKSIZE         configMINIMAL_STACK_SIZE
+#define PLATFORM_SRV_TASK_STACKSIZE     configMINIMAL_STACK_SIZE
+#define PASSTHROUGH_TASK_STACKSIZE      (2 * configMINIMAL_STACK_SIZE)
+#define BQ_OSD_TASK_STACKSIZE           configMINIMAL_STACK_SIZE
+#define GTGPS_DECK_TASK_STACKSIZE       configMINIMAL_STACK_SIZE
+#define UART1_TEST_TASK_STACKSIZE       configMINIMAL_STACK_SIZE
+#define UART2_TEST_TASK_STACKSIZE       configMINIMAL_STACK_SIZE
+#define LIGHTHOUSE_TASK_STACKSIZE       (2 * configMINIMAL_STACK_SIZE)
+#define LPS_DECK_STACKSIZE              (3 * configMINIMAL_STACK_SIZE)
+#define OA_DECK_TASK_STACKSIZE          (2 * configMINIMAL_STACK_SIZE)
+#define KALMAN_TASK_STACKSIZE           (3 * configMINIMAL_STACK_SIZE)
+#define FLAPPERDECK_TASK_STACKSIZE      (2 * configMINIMAL_STACK_SIZE)
+#define ERROR_UKF_TASK_STACKSIZE        (4 * configMINIMAL_STACK_SIZE)
 
 //The radio channel. From 0 to 125
 #define RADIO_CHANNEL 80
diff --git a/src/modules/src/stabilizer.c b/src/modules/src/stabilizer.c
index 0a3c1d8cfd..5a1956c90d 100644
--- a/src/modules/src/stabilizer.c
+++ b/src/modules/src/stabilizer.c
@@ -80,6 +80,7 @@ static ControllerType controllerType;
 static STATS_CNT_RATE_DEFINE(stabilizerRate, 500);
 static rateSupervisor_t rateSupervisorContext;
 static bool rateWarningDisplayed = false;
+SemaphoreHandle_t xRateSupervisorSemaphore;
 
 static struct {
   // position - mm
@@ -118,8 +119,10 @@ static struct {
 } setpointCompressed;
 
 STATIC_MEM_TASK_ALLOC(stabilizerTask, STABILIZER_TASK_STACKSIZE);
+STATIC_MEM_TASK_ALLOC(rateSupervisorTask, RATE_SUPERVISOR_TASK_STACKSIZE);
 
 static void stabilizerTask(void* param);
+static void rateSupervisorTask(void* param);
 
 static void calcSensorToOutputLatency(const sensorData_t *sensorData)
 {
@@ -254,6 +257,25 @@ static void controlMotors(const control_t* control) {
   setMotorRatios(&motorPwm);
 }
 
+void rateSupervisorTask(void *pvParameters) {
+  while (1) {
+    // Wait for the semaphore to be given by the stabilizerTask
+    if (xSemaphoreTake(xRateSupervisorSemaphore, M2T(2000)) == pdTRUE) {
+      // Validate the rate
+      if (!rateSupervisorValidate(&rateSupervisorContext, xTaskGetTickCount())) {
+        if (!rateWarningDisplayed) {
+          DEBUG_PRINT("WARNING: stabilizer loop rate is off (%lu)\n", rateSupervisorLatestCount(&rateSupervisorContext));
+          rateWarningDisplayed = true;
+        }
+      }
+    } else {
+      // Handle the case where the semaphore was not given within the timeout
+      DEBUG_PRINT("ERROR: stabilizerTask is blocking\n");
+      ASSERT(false); // For safety, assert if the stabilizer task is blocking to ensure motor shutdown
+    }
+  }
+}
+
 /* The stabilizer loop runs at 1kHz. It is the
  * responsibility of the different functions to run slower by skipping call
  * (ie. returning without modifying the output structure).
@@ -280,6 +302,8 @@ static void stabilizerTask(void* param)
   systemWaitStart();
   DEBUG_PRINT("Starting stabilizer loop\n");
   rateSupervisorInit(&rateSupervisorContext, xTaskGetTickCount(), M2T(1000), 997, 1003, 1);
+  xRateSupervisorSemaphore = xSemaphoreCreateBinary();
+  STATIC_MEM_TASK_CREATE(rateSupervisorTask, rateSupervisorTask, RATE_SUPERVISOR_TASK_NAME, NULL, RATE_SUPERVISOR_TASK_PRI);
 
   while(1) {
     // The sensor should unlock at 1kHz
@@ -342,12 +366,7 @@ static void stabilizerTask(void* param)
       stabilizerStep++;
       STATS_CNT_RATE_EVENT(&stabilizerRate);
 
-      if (!rateSupervisorValidate(&rateSupervisorContext, xTaskGetTickCount())) {
-        if (!rateWarningDisplayed) {
-          DEBUG_PRINT("WARNING: stabilizer loop rate is off (%lu)\n", rateSupervisorLatestCount(&rateSupervisorContext));
-          rateWarningDisplayed = true;
-        }
-      }
+      xSemaphoreGive(xRateSupervisorSemaphore);
     }
 #ifdef CONFIG_MOTORS_ESC_PROTOCOL_DSHOT
     motorsBurstDshot();