diff --git a/js/msp.js b/js/msp.js
index b7977e90..a298ff09 100755
--- a/js/msp.js
+++ b/js/msp.js
@@ -1423,9 +1423,9 @@ MSP.crunch = function (code) {
             buffer.push(highByte(PID_ADVANCED_CONFIG.motor_pwm_rate));
             break;
         case MSP_codes.MSP_SET_FILTER_CONFIG:
-            buffer.push(FILTER_CONFIG.gyro_soft_lpf_hz);
-            buffer.push(FILTER_CONFIG.dterm_lpf_hz);
-            buffer.push(FILTER_CONFIG.yaw_lpf_hz);
+            buffer.push8(FILTER_CONFIG.gyro_soft_lpf_hz)
+              .push16(FILTER_CONFIG.dterm_lpf_hz)
+              .push16(FILTER_CONFIG.yaw_lpf_hz);
             break;
         case MSP_codes.MSP_SET_ADVANCED_TUNING:
             buffer.push16(ADVANCED_TUNING.rollPitchItermIgnoreRate)
diff --git a/tabs/pid_tuning.css b/tabs/pid_tuning.css
index 13a85705..fae6a75a 100644
--- a/tabs/pid_tuning.css
+++ b/tabs/pid_tuning.css
@@ -289,6 +289,16 @@
     bottom: 0px;
 }
 
+.fancy.header {
+  background-color: #D6D6D6;
+  padding-top: 8px;
+  font-size: 12px;
+  border-bottom: 1px solid #ccc;
+  color: #828282;
+  /* font-family: 'open_sans', Arial; */
+  background-image: linear-gradient(-45deg, rgba(255, 255, 255, .2) 10%, transparent 10%, transparent 20%, rgba(255, 255, 255, .2) 20%, rgba(255, 255, 255, .2) 30%, transparent 30%, transparent 40%, rgba(255, 255, 255, .2) 40%, rgba(255, 255, 255, .2) 50%, transparent 50%, transparent 60%, rgba(255, 255, 255, .2) 60%, rgba(255, 255, 255, .2) 70%, transparent 70%, transparent 80%, rgba(255, 255, 255, .2) 80%, rgba(255, 255, 255, .2) 90%, transparent 90%, transparent 100%, rgba(255, 255, 255, .2) 100%, transparent);
+}
+
 .pid_mode {
     width: calc(100% - 5px);
     height: 20px;
diff --git a/tabs/pid_tuning.html b/tabs/pid_tuning.html
index 045d8d9e..1360e2e5 100755
--- a/tabs/pid_tuning.html
+++ b/tabs/pid_tuning.html
@@ -156,6 +156,7 @@
                         </tr>
                     </table>
                 </div>
+
                 <div class="gui_box grey topspacer">
                     <table id="pid_accel" class="pid_tuning">
                         <tr>
@@ -180,7 +181,25 @@
                         </tr>
                     </table>
                 </div>
+
+                <div class="gui_box grey topspacer">
+                    <table class="pid_filter" class="pid_tuning">
+                        <tr class="fancy header">
+                            <th>LFP Filters (Hz)</th>
+                            <th>Gyro Soft</th>
+                            <th>D Term</th>
+                            <th>Yaw</th>
+                        </tr>
+                        <tr>
+                            <td></td>
+                            <td><input type="number" class="gyro" step="1" min="0" max="255" /></td>
+                            <td><input type="number" class="dterm" step="1" min="0" max="500" /></td>
+                            <td><input type="number" class="yaw" step="1" min="0" max="500" /></td>
+                        </tr>
+                    </table>
+                </div>
             </div>
+
             <div class="cf_column third_right">
                 <div class="spacer_left">
                     <table class="rc_curve cf">
diff --git a/tabs/pid_tuning.js b/tabs/pid_tuning.js
index af61fb17..9362a6f3 100755
--- a/tabs/pid_tuning.js
+++ b/tabs/pid_tuning.js
@@ -182,9 +182,9 @@ TABS.pid_tuning.initialize = function (callback) {
             $('.pid_tuning input[name="rc_expo"]').attr("rowspan", "3");
         }
 
-        $('.pid_tuning input[name="gyro_soft_lpf"]').val(FILTER_CONFIG.gyro_soft_lpf_hz);
-        $('.pid_tuning input[name="dterm_lpf"]').val(FILTER_CONFIG.dterm_lpf_hz);
-        $('.pid_tuning input[name="yaw_lpf"]').val(FILTER_CONFIG.yaw_lpf_hz);
+        $('.pid_filter .gyro').val(FILTER_CONFIG.gyro_soft_lpf_hz);
+        $('.pid_filter .dterm').val(FILTER_CONFIG.dterm_lpf_hz);
+        $('.pid_filter .yaw').val(FILTER_CONFIG.yaw_lpf_hz);
         
     }
 
@@ -252,9 +252,9 @@ TABS.pid_tuning.initialize = function (callback) {
 
         RC_tuning.dynamic_THR_PID = parseFloat($('.tpa input[name="tpa"]').val());
         RC_tuning.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val());
-        FILTER_CONFIG.gyro_soft_lpf_hz = parseInt($('.tpa input[name="gyro_soft_lpf"]').val());
-        FILTER_CONFIG.dterm_lpf_hz = parseInt($('.tpa input[name="dterm_lpf"]').val());
-        FILTER_CONFIG.yaw_lpf_hz = parseInt($('.tpa input[name="yaw_lpf"]').val());
+        FILTER_CONFIG.gyro_soft_lpf_hz = parseInt($('.pid_filter .gyro').val());
+        FILTER_CONFIG.dterm_lpf_hz = parseInt($('.pid_filter .dterm').val());
+        FILTER_CONFIG.yaw_lpf_hz = parseInt($('.pid_filter .yaw').val());
     }
     function hideUnusedPids(sensors_detected) {
       $('.tab-pid_tuning table.pid_tuning').hide();