diff --git a/docs/Configuration-Settings.md b/docs/Configuration-Settings.md
index a1b7150..0b870e0 100644
--- a/docs/Configuration-Settings.md
+++ b/docs/Configuration-Settings.md
@@ -101,6 +101,7 @@ Note also that on some of the smaller B&W radios (Boxer, Zorro, TX12) with a rol
   * **GPS** - GPS coordinates as decimal or degrees/minutes format (default: Decimal)
   * **Playback Log** - Playback telemetry log files (latest 5 logs from the last 2 weeks) **[[help](../Configuration-Settings/#playback-telemetry-log-files)]**
   * **Greyscale Gfx** - Turn on/off the use of greyscale display graphics (only for monochrome displays)
+  * **CRSF Fuel Delay** - Set the delay before CRSF telemetry values are used for fuel calc, after the FC is initialised 
 
 ### Suggested Battery Settings
 #### Voltage and Current Calibration
diff --git a/src/SCRIPTS/TELEMETRY/iNav/config.lua b/src/SCRIPTS/TELEMETRY/iNav/config.lua
index 1b1c033..e800c6a 100644
--- a/src/SCRIPTS/TELEMETRY/iNav/config.lua
+++ b/src/SCRIPTS/TELEMETRY/iNav/config.lua
@@ -38,6 +38,7 @@ local config = {
 	{ o = 34, c = 1, v = 0, l = {[0] = "?"}, x = -1 }, -- Review Log Date - 34
 	{ o = 35, c = 1, v = 0 }, -- Greyscale toggle - 35
 	{ o = 36, c = 1, v = 0 }, -- Horizon Mode - 36
+	{ o = 37, c = 2, v = 2.0, d = true, x = 5.0 }, -- CRSF Fuel Delay - 37
 }
 
 for i = 1, #config do
diff --git a/src/SCRIPTS/TELEMETRY/iNav/crsf.lua b/src/SCRIPTS/TELEMETRY/iNav/crsf.lua
index 7243fbc..0516ef1 100644
--- a/src/SCRIPTS/TELEMETRY/iNav/crsf.lua
+++ b/src/SCRIPTS/TELEMETRY/iNav/crsf.lua
@@ -13,6 +13,7 @@ data.fpv_id = getTelemetryId("Hdg")
 data.tpwr = 0
 data.rfmd = "--"
 data.fuelRaw = 0
+
 config[9].v = 0
 config[14].v = 0
 config[21].v = 2.5
@@ -52,16 +53,33 @@ local function crsf(data)
 	data.heading = math.deg(getValue(data.hdg_id))
 	if data.fpv_id > -1 then data.fpv = getValue(data.fpv_id) * 10 end
 	]]
+
 	data.fuelRaw = data.fuel
 	if data.showFuel and config[23].v == 0 then
-		if data.fuelEst == -1 and data.cell > 0 then
-			if data.fuel < 25 and config[29].v - data.cell >= 0.2 then
-				data.fuelEst = math.max(math.min(1 - (data.cell - config[2].v + 0.1) / (config[29].v - config[2].v), 1), 0) * config[27].v
-			else
-				data.fuelEst = 0
+		if config[37].v == 0 and data.voltStab == false then data.voltStab = true end
+		if data.voltStab then
+			if data.fuelEst == -1 and data.cell > 0 then
+				if data.fuel < 25 and config[29].v - data.cell >= 0.2 then
+					data.fuelEst = math.max(math.min(1 - (data.cell - config[2].v + 0.1) / (config[29].v - config[2].v), 1), 0) * config[27].v				
+				else
+					data.fuelEst = 0
+				end
+			end
+			data.fuel = math.max(math.min(math.floor((1 - (data.fuel + data.fuelEst) / config[27].v) * 100 + 0.5), 100), 0)
+		else
+			data.fuel = -1 -- fuel set to -1 for obvious feedback that fuel is not yet calculated
+			if data.cell_prev ~= data.cell then
+				if data.cell > data.cell_prev then
+					data.voltTimer = getTime()
+				end
+				data.cell_prev = data.cell
+			end
+			if data.voltTimer > 0 and ( data.voltTimer and (getTime() - data.voltTimer) >= (config[37].v * 100) ) then
+				-- if no voltage increase in the set time, the pack voltage reading is taken as stabilised. 
+				data.voltStab = true
+				data.voltTimer = (getTime() - data.voltTimer)
 			end
 		end
-		data.fuel = math.max(math.min(math.floor((1 - (data.fuel + data.fuelEst) / config[27].v) * 100 + 0.5), 100), 0)
 	end
 	data.fm = getValue(data.fm_id)
 	data.modePrev = data.mode
diff --git a/src/SCRIPTS/TELEMETRY/iNav/menu.lua b/src/SCRIPTS/TELEMETRY/iNav/menu.lua
index 1b55f7e..af4b8d5 100644
--- a/src/SCRIPTS/TELEMETRY/iNav/menu.lua
+++ b/src/SCRIPTS/TELEMETRY/iNav/menu.lua
@@ -46,6 +46,7 @@ local function view(data, config, units, lang, event, gpsDegMin, getTelemetryId,
 		{ t = "Playback Log",     l = config[34].l }, -- 34
 		{ t = "Greyscale Gfx",    l = {[0] = "On", "Off"} }, -- 35
 		{ t = "Horizon Mode",     l = {[0] = "Standard", "Fixed"} }, -- 36
+		{ t = "CRSF Fuel Delay",  m = 0, i = 0.5, a = "s" }, -- 37
 	}
 
 	-- Import language changes
@@ -81,6 +82,8 @@ local function view(data, config, units, lang, event, gpsDegMin, getTelemetryId,
 	config2[24].p = data.crsf and 1 or (config[7].v < 2 and 1 or nil)
 	config2[27].p = (not data.crsf or config[23].v > 0) and 1 or nil
 	config2[35].p = HORUS and 1 or nil
+	config2[36].p = not data.crsf and 1 or nil
+
 	if config2[17].p == nil then
 		config2[17].p = (not data.showCurr or config[23].v ~= 0) and 1 or nil
 		config2[18].p = config2[17].p
diff --git a/src/SCRIPTS/TELEMETRY/iNav/reset.lua b/src/SCRIPTS/TELEMETRY/iNav/reset.lua
index 57bcfcc..77b8ac4 100644
--- a/src/SCRIPTS/TELEMETRY/iNav/reset.lua
+++ b/src/SCRIPTS/TELEMETRY/iNav/reset.lua
@@ -1,5 +1,8 @@
 local data = ...
 
+data.voltTimer = 0
+data.voltStab = false
+data.cell_prev = 0.0
 data.armed = false
 data.startup = 1
 data.timerStart = 0