diff --git a/src/logic/unload_to_finda.cpp b/src/logic/unload_to_finda.cpp
index 8c32102..3c77da4 100644
--- a/src/logic/unload_to_finda.cpp
+++ b/src/logic/unload_to_finda.cpp
@@ -8,6 +8,7 @@
 #include "../modules/motion.h"
 #include "../modules/permanent_storage.h"
 #include "../modules/pulley.h"
+#include "../modules/timebase.h"
 
 namespace logic {
 
@@ -19,7 +20,8 @@ void UnloadToFinda::Reset(uint8_t maxTries) {
     } else {
         // FINDA is sensing the filament, plan moves to unload it
         state = EngagingIdler;
-        mi::idler.Engage(mg::globals.ActiveSlot());
+        mi::idler.PartiallyDisengage(mg::globals.ActiveSlot()); // basically prepare before the active slot - saves ~1s
+        started_ms = mt::timebase.Millis();
     }
 }
 
@@ -31,12 +33,24 @@ bool UnloadToFinda::Step() {
     // It will not wait for the extruder to finish the relieve move.
     // However, such an approach breaks running the MMU on a non-reworked MK4/C1, which hasn't been officially supported, but possible (with some level of uncertainity).
     case EngagingIdler:
-        if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
-            state = UnloadingToFinda;
-            mpu::pulley.InitAxis();
-            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
+        if (!mi::idler.PartiallyDisengaged()) { // just waiting for Idler to get into the target intermediate position
+            return false;
+        }
+        if (mfs::fsensor.Pressed()) { // still pressed, printer didn't free the filament yet
+            if (mt::timebase.Elapsed(started_ms, 4000)) {
+                state = FailedFSensor; // fsensor didn't turn off within 4 seconds, something is seriously wrong
+            }
+            return false;
         } else {
-            state = FailedFINDA;
+            // fsensor is OFF and Idler is partially engaged, engage the Idler fully and pull
+            if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
+                state = UnloadingToFinda;
+                mpu::pulley.InitAxis();
+                ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
+                mi::idler.Engage(mg::globals.ActiveSlot());
+            } else {
+                state = FailedFINDA;
+            }
         }
         return false;
     case UnloadingToFinda:
diff --git a/src/logic/unload_to_finda.h b/src/logic/unload_to_finda.h
index e6b31fd..3b63295 100644
--- a/src/logic/unload_to_finda.h
+++ b/src/logic/unload_to_finda.h
@@ -24,7 +24,8 @@ struct UnloadToFinda {
     inline constexpr UnloadToFinda()
         : state(OK)
         , maxTries(3)
-        , unloadStart_mm(0) {}
+        , unloadStart_mm(0)
+        , started_ms(0) {}
 
     /// Restart the automaton
     /// @param maxTries maximum number of retried attempts before reporting a fail
@@ -40,6 +41,7 @@ private:
     uint8_t state;
     uint8_t maxTries;
     int32_t unloadStart_mm; // intentionally trying to avoid using U_mm because it is a float (reps. long double)
+    uint16_t started_ms; // timeout on fsensor turn off
 };
 
 } // namespace logic
diff --git a/tests/unit/logic/unload_to_finda/test_unload_to_finda.cpp b/tests/unit/logic/unload_to_finda/test_unload_to_finda.cpp
index 7360f2c..2f2ddad 100644
--- a/tests/unit/logic/unload_to_finda/test_unload_to_finda.cpp
+++ b/tests/unit/logic/unload_to_finda/test_unload_to_finda.cpp
@@ -44,15 +44,30 @@ TEST_CASE("unload_to_finda::regular_unload", "[unload_to_finda]") {
 
     // it should have instructed the selector and idler to move to slot 1
     // check if the idler and selector have the right command
-    CHECK(mm::AxisNearestTargetPos(mm::Idler) == mi::Idler::SlotPosition(0).v);
+    CHECK(mm::AxisNearestTargetPos(mm::Idler) == mi::Idler::IntermediateSlotPosition(0).v);
     CHECK(mm::AxisNearestTargetPos(mm::Selector) == ms::Selector::SlotPosition(0).v);
 
-    // engaging idler
+    // engaging idler partially
+    REQUIRE(WhileCondition(
+        ff,
+        [&](uint32_t) { return !mi::idler.PartiallyDisengaged(); },
+        5000));
+
+    // turn off fsensor - the printer freed the filament from the gears
+    SetFSensorStateAndDebounce(false);
+
+    // make sure we step ff to handle turned-off fsensor
+    ff.Step();
+
+    REQUIRE(ff.State() == logic::UnloadToFinda::UnloadingToFinda);
+    CHECK(mm::axes[mm::Pulley].enabled == true);
+    CHECK(mm::AxisNearestTargetPos(mm::Idler) == mi::Idler::SlotPosition(0).v);
+
+    // engaging idler fully
     REQUIRE(WhileCondition(
         ff,
         [&](uint32_t) { return !mi::idler.Engaged(); },
         5000));
-    CHECK(mm::axes[mm::Pulley].enabled == true);
 
     // now pulling the filament until finda triggers
     REQUIRE(ff.State() == logic::UnloadToFinda::WaitingForFINDA);
diff --git a/version.cmake b/version.cmake
index 05ea17c..f4b8c0b 100644
--- a/version.cmake
+++ b/version.cmake
@@ -10,6 +10,6 @@ set(PROJECT_VERSION_MINOR
     CACHE STRING "Project minor version" FORCE
     )
 set(PROJECT_VERSION_REV
-    3
+    4
     CACHE STRING "Project revision" FORCE
     )