diff --git a/src/relay_chn_core.c b/src/relay_chn_core.c
index be24eb0..a8c7d08 100644
--- a/src/relay_chn_core.c
+++ b/src/relay_chn_core.c
@@ -275,6 +275,22 @@ static void relay_chn_start_timer_or_idle(relay_chn_ctl_t *chn_ctl, esp_timer_ha
     }
 }
 
+static void relay_chn_stop_prv(relay_chn_ctl_t *chn_ctl)
+{
+    if (relay_chn_output_stop(chn_ctl->output) != ESP_OK) {
+        ESP_LOGE(TAG, "relay_chn_execute_stop: Failed to output stop for relay channel #%d!", chn_ctl->id);
+    }
+    relay_chn_state_t previous_state = chn_ctl->state;
+    relay_chn_update_state(chn_ctl, RELAY_CHN_STATE_STOPPED);
+
+    // Save the last run time only if the previous state was either STATE FORWARD
+    // or STATE_REVERSE. Then schedule a free command.
+    if (previous_state == RELAY_CHN_STATE_FORWARD || previous_state == RELAY_CHN_STATE_REVERSE) {
+        // Record the command's last run time
+        relay_chn_run_info_set_last_run_cmd_time_ms(chn_ctl->run_info, (uint32_t)(esp_timer_get_time() / 1000));
+    }
+}
+
 /**
  * @brief The command issuer function.
  * 
@@ -368,7 +384,7 @@ void relay_chn_issue_cmd(relay_chn_ctl_t* chn_ctl, relay_chn_cmd_t cmd)
         case RELAY_CHN_STATE_REVERSE:
             if (cmd == RELAY_CHN_CMD_FLIP) {
                 // If the command is FLIP, stop the running channel first, then issue the FLIP command
-                relay_chn_dispatch_cmd(chn_ctl, RELAY_CHN_CMD_STOP);
+                relay_chn_stop_prv(chn_ctl);
                 relay_chn_dispatch_cmd(chn_ctl, cmd);
                 return;
             }
@@ -379,7 +395,7 @@ void relay_chn_issue_cmd(relay_chn_ctl_t* chn_ctl, relay_chn_cmd_t cmd)
             }
             
             // Stop the channel first before the schedule
-            relay_chn_dispatch_cmd(chn_ctl, RELAY_CHN_CMD_STOP);
+            relay_chn_stop_prv(chn_ctl);
 
             // If the last run command is different from the current command, wait for the opposite inertia time
             chn_ctl->pending_cmd = cmd;
@@ -446,34 +462,21 @@ static void relay_chn_execute_idle(relay_chn_ctl_t *chn_ctl)
 
 static void relay_chn_execute_stop(relay_chn_ctl_t *chn_ctl)
 {
-    if (relay_chn_output_stop(chn_ctl->output) != ESP_OK) {
-        ESP_LOGE(TAG, "relay_chn_execute_stop: Failed to output stop for relay channel #%d!", chn_ctl->id);
-    }
-    relay_chn_state_t previous_state = chn_ctl->state;
-    relay_chn_update_state(chn_ctl, RELAY_CHN_STATE_STOPPED);
+    relay_chn_stop_prv(chn_ctl);
 
     // If there is any pending command, cancel it since the STOP command is issued right after it
-    chn_ctl->pending_cmd = RELAY_CHN_CMD_NONE;
+    // chn_ctl->pending_cmd = RELAY_CHN_CMD_NONE;
 
 #if CONFIG_RELAY_CHN_ENABLE_RUN_LIMIT
     esp_timer_stop(chn_ctl->run_limit_timer);
 #endif
 
-    if (previous_state == RELAY_CHN_STATE_FORWARD_PENDING || previous_state == RELAY_CHN_STATE_REVERSE_PENDING) {
-        chn_ctl->pending_cmd = RELAY_CHN_CMD_IDLE;
-        // Do nothing more and let the timer set channel idle when it expires
-        return;
-    }
-
     // Invalidate the channel's timer if it is active
     esp_timer_stop(chn_ctl->inertia_timer);
 
-    // Save the last run time only if the previous state was either STATE FORWARD
-    // or STATE_REVERSE. Then schedule a free command.
-    if (previous_state == RELAY_CHN_STATE_FORWARD || previous_state == RELAY_CHN_STATE_REVERSE) {
-        // Record the command's last run time
-        relay_chn_run_info_set_last_run_cmd_time_ms(chn_ctl->run_info, (uint32_t)(esp_timer_get_time() / 1000));
-        // Schedule a free command for the channel
+    relay_chn_cmd_t last_run_cmd = relay_chn_run_info_get_last_run_cmd(chn_ctl->run_info);
+    if (last_run_cmd == RELAY_CHN_CMD_FORWARD || last_run_cmd == RELAY_CHN_CMD_REVERSE ) {
+        // Schedule IDLE
         chn_ctl->pending_cmd = RELAY_CHN_CMD_IDLE;
         relay_chn_start_timer_or_idle(chn_ctl, chn_ctl->inertia_timer, CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS, "idle");
     } else {
@@ -483,6 +486,7 @@ static void relay_chn_execute_stop(relay_chn_ctl_t *chn_ctl)
     }
 }
 
+
 static void relay_chn_execute_forward(relay_chn_ctl_t *chn_ctl)
 {
     if (relay_chn_output_forward(chn_ctl->output) != ESP_OK) {