diff --git a/locales/en/messages.json b/locales/en/messages.json
index d81eadac..02bd2f9e 100644
--- a/locales/en/messages.json
+++ b/locales/en/messages.json
@@ -1679,6 +1679,9 @@
     "tuningHelp": {
         "message": "<b>Tuning tips</b><br /><span class=\"message-negative\">IMPORTANT:</span> It is important to verify motor temperatures during first flights. The higher the filter value gets the better it may fly, but you also will get more noise into the motors. <br>Default value of 100Hz is optimal, but for noiser setups you can try lowering Dterm filter to 50Hz and possibly also the gyro filter."
     },
+    "filterWarning": {
+        "message": "<span class=\"message-negative\"><b>Warning:</b></span> The amount of filtering you are using is dangerously low. This is likely to make the craft hard to control, and can result in flyaways. It is highly recommended that you <b>enable at least one of Gyro Dynamic Lowpass or Gyro Lowpass 1 and at least one of D Term Dynamic Lowpass or D Term Lowpass 1</b>."
+    },
     "receiverThrottleMid": {
         "message": "Throttle MID"
     },
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
index 6d42301d..11cc0e23 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -382,114 +382,120 @@ TABS.pid_tuning.initialize = function (callback) {
         $('input[id="gyroNotch1Enabled"]').change(function() {
             var checked = $(this).is(':checked');
             var hz = FILTER_CONFIG.gyro_notch_hz > 0 ? FILTER_CONFIG.gyro_notch_hz : FILTER_DEFAULT.gyro_notch_hz;
-            var cutoff = FILTER_CONFIG.gyro_notch_cutoff > 0 ? FILTER_CONFIG.gyro_notch_cutoff : FILTER_DEFAULT.gyro_notch_cutoff;
 
             $('.pid_filter input[name="gyroNotch1Frequency"]').val(checked ? hz : 0).attr('disabled', !checked)
                     .attr("min", checked ? 1 : 0).change();
-            $('.pid_filter input[name="gyroNotch1Cutoff"]').val(checked ? cutoff : 0).attr('disabled', !checked).change();
+            $('.pid_filter input[name="gyroNotch1Cutoff"]').attr('disabled', !checked).change();
         });
 
         $('input[id="gyroNotch2Enabled"]').change(function() {
             var checked = $(this).is(':checked');
             var hz = FILTER_CONFIG.gyro_notch2_hz > 0 ? FILTER_CONFIG.gyro_notch2_hz : FILTER_DEFAULT.gyro_notch2_hz;
-            var cutoff = FILTER_CONFIG.gyro_notch2_cutoff > 0 ? FILTER_CONFIG.gyro_notch2_cutoff : FILTER_DEFAULT.gyro_notch2_cutoff;
 
             $('.pid_filter input[name="gyroNotch2Frequency"]').val(checked ? hz : 0).attr('disabled', !checked)
                     .attr("min", checked ? 1 : 0).change();
-            $('.pid_filter input[name="gyroNotch2Cutoff"]').val(checked ? cutoff : 0).attr('disabled', !checked).change();
+            $('.pid_filter input[name="gyroNotch2Cutoff"]').attr('disabled', !checked).change();
         });
 
         $('input[id="dtermNotchEnabled"]').change(function() {
             var checked = $(this).is(':checked');
             var hz = FILTER_CONFIG.dterm_notch_hz > 0 ? FILTER_CONFIG.dterm_notch_hz : FILTER_DEFAULT.dterm_notch_hz;
-            var cutoff = FILTER_CONFIG.dterm_notch_cutoff > 0 ? FILTER_CONFIG.dterm_notch_cutoff : FILTER_DEFAULT.dterm_notch_cutoff;
 
             $('.pid_filter input[name="dTermNotchFrequency"]').val(checked ? hz : 0).attr('disabled', !checked)
                     .attr("min", checked ? 1 : 0).change();
-            $('.pid_filter input[name="dTermNotchCutoff"]').val(checked ? cutoff : 0).attr('disabled', !checked).change();
+            $('.pid_filter input[name="dTermNotchCutoff"]').attr('disabled', !checked).change();
         });
 
         $('input[id="gyroLowpassEnabled"]').change(function() {
             var checked = $(this).is(':checked');
-            var cutoff = FILTER_CONFIG.gyro_lowpass_hz > 0 ? FILTER_CONFIG.gyro_lowpass_hz : FILTER_DEFAULT.gyro_lowpass_hz;
-            var type = FILTER_CONFIG.gyro_lowpass_type > 0 ? FILTER_CONFIG.gyro_lowpass_type : FILTER_DEFAULT.gyro_lowpass_type;
+            var disabledByDynamicLowpass = $('input[id="gyroLowpassDynEnabled"]').is(':checked');
 
-            $('.pid_filter input[name="gyroLowpassFrequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
-            $('.pid_filter select[name="gyroLowpassType"]').val(checked ? type : 0).attr('disabled', !checked);
+            var cutoff = FILTER_CONFIG.gyro_lowpass_hz > 0 ? FILTER_CONFIG.gyro_lowpass_hz : FILTER_DEFAULT.gyro_lowpass_hz;
+            var type = FILTER_CONFIG.gyro_lowpass_hz > 0 ? FILTER_CONFIG.gyro_lowpass_type : FILTER_DEFAULT.gyro_lowpass_type;
+
+            $('.pid_filter input[name="gyroLowpassFrequency"]').val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked);
+            $('.pid_filter select[name="gyroLowpassType"]').val(type).attr('disabled', !checked);
 
             if (checked) {
                 $('input[id="gyroLowpassDynEnabled"]').prop('checked', false).change();
             }
-
+            self.updateFilterWarning();
         });
 
         $('input[id="gyroLowpassDynEnabled"]').change(function() {
             var checked = $(this).is(':checked');
             var cutoff_min = FILTER_DEFAULT.gyro_lowpass_dyn_min_hz;
-            var cutoff_max = FILTER_DEFAULT.gyro_lowpass_dyn_max_hz;
+            var type = FILTER_DEFAULT.gyro_lowpass_type;
             if (FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FILTER_CONFIG.gyro_lowpass_dyn_max_hz) {
                 cutoff_min = FILTER_CONFIG.gyro_lowpass_dyn_min_hz;  
-                cutoff_max = FILTER_CONFIG.gyro_lowpass_dyn_max_hz;
+                type = FILTER_CONFIG.gyro_lowpass_type;
             } 
-            var type = FILTER_CONFIG.gyro_lowpass_type > 0 ? FILTER_CONFIG.gyro_lowpass_type : FILTER_DEFAULT.gyro_lowpass_type;
 
             $('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(checked ? cutoff_min : 0).attr('disabled', !checked);
             $('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').attr('disabled', !checked);
-            $('.pid_filter select[name="gyroLowpassDynType"]').val(checked ? type : 0).attr('disabled', !checked);
+            $('.pid_filter select[name="gyroLowpassDynType"]').val(type).attr('disabled', !checked);
 
             if (checked) {
                 $('input[id="gyroLowpassEnabled"]').prop('checked', false).change();
+            } else if (FILTER_CONFIG.gyro_lowpass_hz > 0 && !$('input[id="gyroLowpassEnabled"]').is(':checked')) {
+                $('input[id="gyroLowpassEnabled"]').prop('checked', true).change();
             }
+            self.updateFilterWarning();
         });
 
         $('input[id="gyroLowpass2Enabled"]').change(function() {
             var checked = $(this).is(':checked');
             var cutoff = FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FILTER_CONFIG.gyro_lowpass2_hz : FILTER_DEFAULT.gyro_lowpass2_hz;
-            var type = FILTER_CONFIG.gyro_lowpass2_type > 0 ? FILTER_CONFIG.gyro_lowpass2_type : FILTER_DEFAULT.gyro_lowpass2_type;
+            var type = FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FILTER_CONFIG.gyro_lowpass2_type : FILTER_DEFAULT.gyro_lowpass2_type;
 
             $('.pid_filter input[name="gyroLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
-            $('.pid_filter select[name="gyroLowpass2Type"]').val(checked ? type : 0).attr('disabled', !checked);
+            $('.pid_filter select[name="gyroLowpass2Type"]').val(type).attr('disabled', !checked);
         });
 
         $('input[id="dtermLowpassEnabled"]').change(function() {
             var checked = $(this).is(':checked');
-            var cutoff = FILTER_CONFIG.dterm_lowpass_hz > 0 ? FILTER_CONFIG.dterm_lowpass_hz : FILTER_DEFAULT.dterm_lowpass_hz;
-            var type = FILTER_CONFIG.dterm_lowpass_type > 0 ? FILTER_CONFIG.dterm_lowpass_type : FILTER_DEFAULT.dterm_lowpass_type;
+            var disabledByDynamicLowpass = $('input[id="dtermLowpassDynEnabled"]').is(':checked');
 
-            $('.pid_filter input[name="dtermLowpassFrequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
-            $('.pid_filter select[name="dtermLowpassType"]').val(checked ? type : 0).attr('disabled', !checked);
+            var cutoff = FILTER_CONFIG.dterm_lowpass_hz > 0 ? FILTER_CONFIG.dterm_lowpass_hz : FILTER_DEFAULT.dterm_lowpass_hz;
+            var type = FILTER_CONFIG.dterm_lowpass_hz > 0 ? FILTER_CONFIG.dterm_lowpass_type : FILTER_DEFAULT.dterm_lowpass_type;
+
+            $('.pid_filter input[name="dtermLowpassFrequency"]').val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked);
+            $('.pid_filter select[name="dtermLowpassType"]').val(type).attr('disabled', !checked);
 
             if (checked) {
                 $('input[id="dtermLowpassDynEnabled"]').prop('checked', false).change();
             }
+            self.updateFilterWarning();
         });
 
         $('input[id="dtermLowpassDynEnabled"]').change(function() {
             var checked = $(this).is(':checked');
             var cutoff_min = FILTER_DEFAULT.dterm_lowpass_dyn_min_hz;
-            var cutoff_max = FILTER_DEFAULT.dterm_lowpass_dyn_max_hz;
+            var type = FILTER_DEFAULT.dterm_lowpass_type;
             if (FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FILTER_CONFIG.dterm_lowpass_dyn_max_hz) {
                 cutoff_min = FILTER_CONFIG.dterm_lowpass_dyn_min_hz;  
-                cutoff_max = FILTER_CONFIG.dterm_lowpass_dyn_max_hz;
+                type = FILTER_CONFIG.dterm_lowpass_type;
             } 
-            var type = FILTER_CONFIG.dterm_lowpass_type > 0 ? FILTER_CONFIG.dterm_lowpass_type : FILTER_DEFAULT.dterm_lowpass_type;
 
             $('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(checked ? cutoff_min : 0).attr('disabled', !checked);
-            $('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(checked ? cutoff_max : 0).attr('disabled', !checked);
-            $('.pid_filter select[name="dtermLowpassDynType"]').val(checked ? type : 0).attr('disabled', !checked);
+            $('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').attr('disabled', !checked);
+            $('.pid_filter select[name="dtermLowpassDynType"]').val(type).attr('disabled', !checked);
 
             if (checked) {
                 $('input[id="dtermLowpassEnabled"]').prop('checked', false).change();
+            } else if (FILTER_CONFIG.dterm_lowpass_hz > 0 && !$('input[id="dtermLowpassEnabled"]').is(':checked')) {
+                $('input[id="dtermLowpassEnabled"]').prop('checked', true).change();
             }
+            self.updateFilterWarning();
         });
 
         $('input[id="dtermLowpass2Enabled"]').change(function() {
             var checked = $(this).is(':checked');
             var cutoff = FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FILTER_CONFIG.dterm_lowpass2_hz : FILTER_DEFAULT.dterm_lowpass2_hz;
-            var type = FILTER_CONFIG.dterm_lowpass2_type > 0 ? FILTER_CONFIG.dterm_lowpass2_type : FILTER_DEFAULT.dterm_lowpass2_type;
+            var type = FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FILTER_CONFIG.dterm_lowpass2_type : FILTER_DEFAULT.dterm_lowpass2_type;
 
             $('.pid_filter input[name="dtermLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
-            $('.pid_filter select[name="dtermLowpass2Type"]').val(checked ? type : 0).attr('disabled', !checked);
+            $('.pid_filter select[name="dtermLowpass2Type"]').val(type).attr('disabled', !checked);
         });
 
         $('input[id="yawLowpassEnabled"]').change(function() {
@@ -1759,3 +1765,16 @@ TABS.pid_tuning.updateRatesLabels = function() {
         }
     }
 };
+
+TABS.pid_tuning.updateFilterWarning = function() {
+    var gyroDynamicLowpassEnabled = $('input[id="gyroLowpassDynEnabled"]').is(':checked');
+    var gyroLowpass1Enabled = $('input[id="gyroLowpassEnabled"]').is(':checked');
+    var dtermDynamicLowpassEnabled = $('input[id="dtermLowpassDynEnabled"]').is(':checked');
+    var dtermLowpass1Enabled = $('input[id="dtermLowpassEnabled"]').is(':checked');
+    var warning_e = $('#pid-tuning .filterWarning');
+    if (!(gyroDynamicLowpassEnabled || gyroLowpass1Enabled) || !(dtermDynamicLowpassEnabled || dtermLowpass1Enabled)) {
+        warning_e.show();
+    } else {
+        warning_e.hide();
+    }
+}
diff --git a/src/tabs/pid_tuning.html b/src/tabs/pid_tuning.html
index 909d2e68..50516928 100644
--- a/src/tabs/pid_tuning.html
+++ b/src/tabs/pid_tuning.html
@@ -684,6 +684,11 @@
                         <p i18n="tuningHelp"></p>
                     </div>
                 </div>
+                <div class="note topspacer filterWarning" style="margin-top: 0px;">
+                    <div class="note_spacer">
+                        <p i18n="filterWarning"></p>
+                    </div>
+                </div>
 
                 <div class="cf_column two_columns">
                     <div class="gui_box grey topspacer pid_filter two_columns_first">