diff --git a/src/drivers/dshot/DShot.cpp b/src/drivers/dshot/DShot.cpp
index ef34e2dc46e..ba7f4c1bf12 100644
--- a/src/drivers/dshot/DShot.cpp
+++ b/src/drivers/dshot/DShot.cpp
@@ -398,7 +398,11 @@ void DShot::update_motor_commands(int num_outputs)
 			command_sent = true;
 		}
 
-		up_dshot_motor_command(i, command, false);
+		// Bluejay/BLHeli_S discard commands unless the tlm bit is set. It stays clear on commands answered
+		// over the telemetry UART: AM32 reads it as a KISS request and starts that frame on the same wire,
+		// then aborts it a few loop iterations later to send the EEPROM dump.
+		const bool request_telemetry = command != DSHOT_CMD_MOTOR_STOP && !_current_command.expect_response;
+		up_dshot_motor_command(i, command, request_telemetry);
 	}
 
 	if (command_sent) {
diff --git a/src/drivers/dshot/DShotTelemetry.cpp b/src/drivers/dshot/DShotTelemetry.cpp
index 17642d84e58..f8cd8f74f56 100644
--- a/src/drivers/dshot/DShotTelemetry.cpp
+++ b/src/drivers/dshot/DShotTelemetry.cpp
@@ -278,6 +278,8 @@ TelemetryStatus DShotTelemetry::decodeTelemetryResponse(uint8_t *buffer, int len
 
 void DShotTelemetry::setExpectCommandResponse(int motor_index, uint16_t command)
 {
+	// Earlier commands sent with the tlm bit set leave KISS frames in the RX FIFO.
+	_uart.flush();
 	_command_response_motor_index = motor_index;
 	_command_response_command = command;
 	_command_response_start = hrt_absolute_time();