diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 03735ce0d..fd830c593 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -153,9 +153,9 @@ bool Axis::do_checks(uint32_t timestamp) {
     motor_.do_checks(timestamp);
 
     // Check for endstop presses
-    if (min_endstop_.config_.enabled && min_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING)) {
+    if (min_endstop_.config_.enabled && min_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING) && !(min_endstop_.config_.ignore_during_startup && current_state_ == AXIS_STATE_UNDEFINED)) {
         error_ |= ERROR_MIN_ENDSTOP_PRESSED;
-    } else if (max_endstop_.config_.enabled && max_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING)) {
+    } else if (max_endstop_.config_.enabled && max_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING) && !(max_endstop_.config_.ignore_during_startup && current_state_ == AXIS_STATE_UNDEFINED)) {
         error_ |= ERROR_MAX_ENDSTOP_PRESSED;
     }
 
diff --git a/Firmware/MotorControl/endstop.hpp b/Firmware/MotorControl/endstop.hpp
index 21a640c27..2df8cba31 100644
--- a/Firmware/MotorControl/endstop.hpp
+++ b/Firmware/MotorControl/endstop.hpp
@@ -10,6 +10,7 @@ class Endstop {
         uint16_t gpio_num = 0;
         bool enabled = false;
         bool is_active_high = false;
+        bool ignore_during_startup = false;
 
         // custom setters
         Endstop* parent = nullptr;
diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index 34cb09d06..3d2d717d8 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -1409,6 +1409,7 @@ interfaces:
           enabled: {type: bool, c_setter: set_enabled}
           offset: {type: float32, unit: turns}
           is_active_high: bool
+          ignore_during_startup: bool
           debounce_ms: {type: uint32, c_setter: set_debounce_ms}
 
   ODrive.MechanicalBrake: