diff --git a/components/pca9685/pca9685_intf.c b/components/pca9685/pca9685_intf.c
index ecd513e..af51e47 100644
--- a/components/pca9685/pca9685_intf.c
+++ b/components/pca9685/pca9685_intf.c
@@ -245,6 +245,6 @@ void pca9685_interface_debug_print(const char *const fmt, ...)
 {
     va_list list;
     va_start(list, fmt);
-    esp_log_writev(ESP_LOG_DEBUG, "sub_pca9685", fmt, list);
+    esp_log_writev(ESP_LOG_INFO, "sub_pca9685", fmt, list);
     va_end(list);
 }
diff --git a/components/protobuf_rpc/Kconfig.projbuild b/components/protobuf_rpc/Kconfig.projbuild
index 134e0a3..04d2e25 100644
--- a/components/protobuf_rpc/Kconfig.projbuild
+++ b/components/protobuf_rpc/Kconfig.projbuild
@@ -40,53 +40,61 @@ menu "SUB:ProtoBuf-RPC"
     endmenu
 
     menu "Thruster"
-        config SUB_PROTOBUF_THRUSTER0_PIN
-            int "Thruster0 pin"
-            default 25
+        config SUB_PROTOBUF_THRUSTERS_ENABLE
+            bool "Enable thrusters"
+            default y
             help
-                The pin of thruster channel 0.
+                Enable thrusters.
 
-        config SUB_PROTOBUF_THRUSTER1_PIN
-            int "Thruster1 pin"
-            default 26
-            help
-                The pin of thruster channel 1.
+        if SUB_PROTOBUF_THRUSTERS_ENABLE
+            config SUB_PROTOBUF_THRUSTER0_PIN
+                int "Thruster0 pin"
+                default 25
+                help
+                    The pin of thruster channel 0.
 
-        config SUB_PROTOBUF_THRUSTER2_PIN
-            int "Thruster2 pin"
-            default 27
-            help
-                The pin of thruster channel 2.
+            config SUB_PROTOBUF_THRUSTER1_PIN
+                int "Thruster1 pin"
+                default 26
+                help
+                    The pin of thruster channel 1.
 
-        config SUB_PROTOBUF_THRUSTER3_PIN
-            int "Thruster3 pin"
-            default 14
-            help
-                The pin of thruster channel 3.
+            config SUB_PROTOBUF_THRUSTER2_PIN
+                int "Thruster2 pin"
+                default 27
+                help
+                    The pin of thruster channel 2.
 
-        config SUB_PROTOBUF_THRUSTER4_PIN
-            int "Thruster4 pin"
-            default 12
-            help
-                The pin of thruster channel 4.
+            config SUB_PROTOBUF_THRUSTER3_PIN
+                int "Thruster3 pin"
+                default 14
+                help
+                    The pin of thruster channel 3.
 
-        config SUB_PROTOBUF_THRUSTER5_PIN
-            int "Thruster5 pin"
-            default 13
-            help
-                The pin of thruster channel 5.
+            config SUB_PROTOBUF_THRUSTER4_PIN
+                int "Thruster4 pin"
+                default 12
+                help
+                    The pin of thruster channel 4.
 
-        config SUB_PROTOBUF_THRUSTER6_PIN
-            int "Thruster6 pin"
-            default 15
-            help
-                The pin of thruster channel 6.
+            config SUB_PROTOBUF_THRUSTER5_PIN
+                int "Thruster5 pin"
+                default 13
+                help
+                    The pin of thruster channel 5.
 
-        config SUB_PROTOBUF_THRUSTER7_PIN
-            int "Thruster7 pin"
-            default 2
-            help
-                The pin of thruster channel 7.
+            config SUB_PROTOBUF_THRUSTER6_PIN
+                int "Thruster6 pin"
+                default 15
+                help
+                    The pin of thruster channel 6.
+
+            config SUB_PROTOBUF_THRUSTER7_PIN
+                int "Thruster7 pin"
+                default 2
+                help
+                    The pin of thruster channel 7.
+        endif
     endmenu
 
 endmenu
diff --git a/components/protobuf_rpc/message_cmd.c b/components/protobuf_rpc/message_cmd.c
index 7a4dacb..90fa643 100644
--- a/components/protobuf_rpc/message_cmd.c
+++ b/components/protobuf_rpc/message_cmd.c
@@ -12,9 +12,11 @@ static const char *TAG = "protobuf_commu_rpc_cmd";
 static dshot_handle_t dshot_chan0, dshot_chan1, dshot_chan2, dshot_chan3,
                         dshot_chan4, dshot_chan5, dshot_chan6, dshot_chan7;
 
+#if CONFIG_SUB_PROTOBUF_THRUSTERS_ENABLE
 static int thruster_init(void)
 {
     int ret = 0;
+
     ret += rmt_dshot_init(&dshot_chan0, CONFIG_SUB_PROTOBUF_THRUSTER0_PIN);
     ret += rmt_dshot_init(&dshot_chan1, CONFIG_SUB_PROTOBUF_THRUSTER1_PIN);
     ret += rmt_dshot_init(&dshot_chan2, CONFIG_SUB_PROTOBUF_THRUSTER2_PIN);
@@ -25,7 +27,7 @@ static int thruster_init(void)
     ret += rmt_dshot_init(&dshot_chan7, CONFIG_SUB_PROTOBUF_THRUSTER7_PIN);
     return ret;
 }
-
+#endif
 #if CONFIG_SUB_ENABLE_PCA9685
 static int pwmDev_init(void)
 {
@@ -39,7 +41,9 @@ static int pwmDev_init(void)
 int message_cmd_init(void)
 {
     int ret = 0;
+#if CONFIG_SUB_PROTOBUF_THRUSTERS_ENABLE
     ret += thruster_init();
+#endif
 #if CONFIG_SUB_ENABLE_PCA9685
     ret += pwmDev_init();
 #endif
@@ -49,6 +53,9 @@ int message_cmd_init(void)
 
 void message_thruster_cmd(ThrusterCommand *msg)
 {
+#if !CONFIG_SUB_PROTOBUF_THRUSTERS_ENABLE
+    return;
+#endif
     if (msg->has_throttle0)
     {
         ESP_LOGI(TAG, "dshot_chan0: %ld", msg->throttle0);