diff --git a/klippy/extras/motion_queuing.py b/klippy/extras/motion_queuing.py
index c0de615d..6fadbef1 100644
--- a/klippy/extras/motion_queuing.py
+++ b/klippy/extras/motion_queuing.py
@@ -6,6 +6,8 @@
 import logging
 import chelper
 
+MOVE_HISTORY_EXPIRE = 30.
+
 class PrinterMotionQueuing:
     def __init__(self, config):
         self.printer = config.get_printer()
@@ -18,6 +20,9 @@ class PrinterMotionQueuing:
         self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
         self.steppersync_flush = ffi_lib.steppersync_flush
         self.steppersync_history_expire = ffi_lib.steppersync_history_expire
+        self.clear_history_time = 0.
+        is_debug = self.printer.get_start_args().get('debugoutput') is not None
+        self.is_debugoutput = is_debug
     def allocate_trapq(self):
         ffi_main, ffi_lib = chelper.get_ffi()
         trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
@@ -59,7 +64,10 @@ class PrinterMotionQueuing:
             if ret:
                 raise mcu.error("Internal error in MCU '%s' stepcompress"
                                 % (mcu.get_name(),))
-    def clean_motion_queues(self, trapq_free_time, clear_history_time):
+    def clean_motion_queues(self, trapq_free_time):
+        clear_history_time = self.clear_history_time
+        if self.is_debugoutput:
+            clear_history_time = trapq_free_time - MOVE_HISTORY_EXPIRE
         # Move processed trapq moves to history list, and expire old history
         for trapq in self.trapqs:
             self.trapq_finalize_moves(trapq, trapq_free_time,
@@ -75,6 +83,11 @@ class PrinterMotionQueuing:
     def lookup_trapq_append(self):
         ffi_main, ffi_lib = chelper.get_ffi()
         return ffi_lib.trapq_append
+    def stats(self, eventtime):
+        mcu = self.printer.lookup_object('mcu')
+        est_print_time = mcu.estimated_print_time(eventtime)
+        self.clear_history_time = est_print_time - MOVE_HISTORY_EXPIRE
+        return False, ""
 
 def load_config(config):
     return PrinterMotionQueuing(config)
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 9a6c2345..7f53ef44 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -200,7 +200,6 @@ MIN_KIN_TIME = 0.100
 MOVE_BATCH_TIME = 0.500
 STEPCOMPRESS_FLUSH_TIME = 0.050
 SDS_CHECK_TIME = 0.001 # step+dir+step filter in stepcompress.c
-MOVE_HISTORY_EXPIRE = 30.
 
 DRIP_SEGMENT_TIME = 0.050
 DRIP_TIME = 0.100
@@ -241,7 +240,7 @@ class ToolHead:
         self.flush_timer = self.reactor.register_timer(self._flush_handler)
         self.do_kick_flush_timer = True
         self.last_flush_time = self.min_restart_time = 0.
-        self.need_flush_time = self.step_gen_time = self.clear_history_time = 0.
+        self.need_flush_time = self.step_gen_time = 0.
         # Kinematic step generation scan window time tracking
         self.kin_flush_delay = SDS_CHECK_TIME
         self.kin_flush_times = []
@@ -279,11 +278,8 @@ class ToolHead:
         self.motion_queuing.flush_motion_queues(flush_time, sg_flush_time)
         self.min_restart_time = max(self.min_restart_time, sg_flush_time)
         # Free trapq entries that are no longer needed
-        clear_history_time = self.clear_history_time
-        if not self.can_pause:
-            clear_history_time = flush_time - MOVE_HISTORY_EXPIRE
         free_time = sg_flush_time - self.kin_flush_delay
-        self.motion_queuing.clean_motion_queues(free_time, clear_history_time)
+        self.motion_queuing.clean_motion_queues(free_time)
         self.last_flush_time = flush_time
     def _advance_move_time(self, next_print_time):
         pt_delay = self.kin_flush_delay + STEPCOMPRESS_FLUSH_TIME
@@ -561,7 +557,6 @@ class ToolHead:
         for m in self.all_mcus:
             m.check_active(max_queue_time, eventtime)
         est_print_time = self.mcu.estimated_print_time(eventtime)
-        self.clear_history_time = est_print_time - MOVE_HISTORY_EXPIRE
         buffer_time = self.print_time - est_print_time
         is_active = buffer_time > -60. or not self.special_queuing_state
         if self.special_queuing_state == "Drip":