diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 133b55930..a5dfa5ff4 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -700,6 +700,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, compassConfig()->mag_declination / 10);
 
         sbufWriteU16(dst, batteryConfig()->voltage.scale);
+        sbufWriteU16(dst, batteryConfig()->voltage.cellDetect);
         sbufWriteU16(dst, batteryConfig()->voltage.cellMin);
         sbufWriteU16(dst, batteryConfig()->voltage.cellMax);
         sbufWriteU16(dst, batteryConfig()->voltage.cellWarning);
@@ -712,6 +713,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 
     case MSP2_INAV_BATTERY_CONFIG:
         sbufWriteU16(dst, batteryConfig()->voltage.scale);
+        sbufWriteU16(dst, batteryConfig()->voltage.cellDetect);
         sbufWriteU16(dst, batteryConfig()->voltage.cellMin);
         sbufWriteU16(dst, batteryConfig()->voltage.cellMax);
         sbufWriteU16(dst, batteryConfig()->voltage.cellWarning);
@@ -1613,7 +1615,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         break;
 
     case MSP2_INAV_SET_MISC:
-        if (dataSize == 37) {
+        if (dataSize == 39) {
             rxConfigMutable()->midrc = constrain(sbufReadU16(src), MIDRC_MIN, MIDRC_MAX);
 
             motorConfigMutable()->minthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
@@ -1643,6 +1645,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 #endif
 
             batteryConfigMutable()->voltage.scale = sbufReadU16(src);
+            batteryConfigMutable()->voltage.cellDetect = sbufReadU16(src);
             batteryConfigMutable()->voltage.cellMin = sbufReadU16(src);
             batteryConfigMutable()->voltage.cellMax = sbufReadU16(src);
             batteryConfigMutable()->voltage.cellWarning = sbufReadU16(src);
@@ -1660,8 +1663,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         break;
 
     case MSP2_INAV_SET_BATTERY_CONFIG:
-        if (dataSize == 25) {
+        if (dataSize == 27) {
             batteryConfigMutable()->voltage.scale = sbufReadU16(src);
+            batteryConfigMutable()->voltage.cellDetect = sbufReadU16(src);
             batteryConfigMutable()->voltage.cellMin = sbufReadU16(src);
             batteryConfigMutable()->voltage.cellMax = sbufReadU16(src);
             batteryConfigMutable()->voltage.cellWarning = sbufReadU16(src);
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 356c7a320..9f8589df8 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -501,6 +501,11 @@ groups:
         condition: USE_ADC
         min: VBAT_SCALE_MIN
         max: VBAT_SCALE_MAX
+      - name: vbat_cell_detect_voltage
+        field: voltage.cellDetect
+        condition: USE_ADC
+        min: 100
+        max: 500
       - name: vbat_max_cell_voltage
         field: voltage.cellMax
         condition: USE_ADC
diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 21e742479..3baadd7d8 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -45,7 +45,7 @@
 
 #define ADCVREF 3300                 // in mV (3300 = 3.3V)
 
-#define VBATT_CELL_FULL_MAX_DIFF 14  // Max difference with cell max voltage for the battery to be considered full (10mV steps)
+#define VBATT_CELL_FULL_MAX_DIFF 10  // Max difference with cell max voltage for the battery to be considered full (10mV steps)
 #define VBATT_PRESENT_THRESHOLD 100  // Minimum voltage to consider battery present
 #define VBATT_STABLE_DELAY 40        // Delay after connecting battery to begin monitoring
 #define VBATT_HYSTERESIS 10          // Batt Hysteresis of +/-100mV for changing battery state
@@ -73,13 +73,14 @@ static int32_t mWhDrawn = 0;               // energy (milliWatt hours) drawn fro
 
 batteryState_e batteryState;
 
-PG_REGISTER_WITH_RESET_TEMPLATE(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 1);
+PG_REGISTER_WITH_RESET_TEMPLATE(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 2);
 
 PG_RESET_TEMPLATE(batteryConfig_t, batteryConfig,
 
     .voltage = {
         .scale = VBAT_SCALE_DEFAULT,
-        .cellMax = 424,
+        .cellDetect = 430,
+        .cellMax = 420,
         .cellMin = 330,
         .cellWarning = 350
     },
@@ -148,7 +149,7 @@ void batteryUpdate(uint32_t vbatTimeDelta)
         delay(VBATT_STABLE_DELAY);
         updateBatteryVoltage(vbatTimeDelta);
 
-        unsigned cells = (batteryAdcToVoltage(vbatLatestADC) / batteryConfig()->voltage.cellMax) + 1;
+        unsigned cells = (batteryAdcToVoltage(vbatLatestADC) / batteryConfig()->voltage.cellDetect) + 1;
         if (cells > 8) cells = 8; // something is wrong, we expect 8 cells maximum (and autodetection will be problematic at 6+ cells)
 
         batteryCellCount = cells;
diff --git a/src/main/sensors/battery.h b/src/main/sensors/battery.h
index 5e032d6a1..dc729a07f 100644
--- a/src/main/sensors/battery.h
+++ b/src/main/sensors/battery.h
@@ -49,7 +49,8 @@ typedef struct batteryConfig_s {
 
     struct {
         uint16_t scale;         // adjust this to match battery voltage to reported value
-        uint16_t cellMax;       // maximum voltage per cell, used for auto-detecting battery voltage in 0.01V units, default is 421 (4.21V)
+        uint16_t cellDetect;    // maximum voltage per cell, used for auto-detecting battery cell count in 0.01V units, default is 430 (4.3V)
+        uint16_t cellMax;       // maximum voltage per cell, used for full battery detection and battery gauge voltage in 0.01V units, default is 424 (4.24V)
         uint16_t cellMin;       // minimum voltage per cell, this triggers battery critical alarm, in 0.01V units, default is 330 (3.3V)
         uint16_t cellWarning;   // warning voltage per cell, this triggers battery warning alarm, in 0.01V units, default is 350 (3.5V)
     } voltage;