diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index f86bca3cf3..9bfbc83f81 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -53,12 +53,12 @@ biquad_t *BiQuadNewLpf(uint8_t filterCutFreq)
 	float samplingRate;
     samplingRate = 1 / (targetLooptime * 0.000001f);
 
-    biquad_t *b;
+    biquad_t *newState;
     float omega, sn, cs, alpha;
     float a0, a1, a2, b0, b1, b2;
 
-    b = malloc(sizeof(biquad_t));
-    if (b == NULL)
+    newState = malloc(sizeof(biquad_t));
+    if (newState == NULL)
         return NULL;
 
     /* setup variables */
@@ -75,17 +75,17 @@ biquad_t *BiQuadNewLpf(uint8_t filterCutFreq)
     a2 = 1 - alpha;
 
     /* precompute the coefficients */
-    b->a0 = b0 /a0;
-    b->a1 = b1 /a0;
-    b->a2 = b2 /a0;
-    b->a3 = a1 /a0;
-    b->a4 = a2 /a0;
+    newState->a0 = b0 /a0;
+    newState->a1 = b1 /a0;
+    newState->a2 = b2 /a0;
+    newState->a3 = a1 /a0;
+    newState->a4 = a2 /a0;
 
     /* zero initial samples */
-    b->x1 = b->x2 = 0;
-    b->y1 = b->y2 = 0;
+    newState->x1 = newState->x2 = 0;
+    newState->y1 = newState->y2 = 0;
 
-    return b;
+    return newState;
 }
 
 /* Computes a biquad_t filter on a sample */
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index af1c6b3f7c..beeee5818f 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -113,7 +113,7 @@ void airModePlus(airModePlus_t *axisState, int axis, pidProfile_t *pidProfile) {
 const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
 
 static airModePlus_t airModePlusAxisState[3];
-static biquad_t deltaBiQuadState[3];
+static biquad_t *deltaBiQuadState[3];
 static bool deltaStateIsSet;
 
 static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
@@ -128,7 +128,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
     static float previousErrorGyroIf[3] = { 0.0f, 0.0f, 0.0f };
 
     if (!deltaStateIsSet && pidProfile->dterm_lpf_hz) {
-        for (axis = 0; axis < 3; axis++) deltaBiQuadState[axis] = *(biquad_t *)BiQuadNewLpf(pidProfile->dterm_lpf_hz);
+        for (axis = 0; axis < 3; axis++) deltaBiQuadState[axis] = (biquad_t *)BiQuadNewLpf(pidProfile->dterm_lpf_hz);
         deltaStateIsSet = true;
     }
 
@@ -215,7 +215,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         lastError[axis] = RateError;
 
         if (deltaStateIsSet) {
-            delta = applyBiQuadFilter(delta, &deltaBiQuadState[axis]);
+            delta = applyBiQuadFilter(delta, deltaBiQuadState[axis]);
         }
 
         // Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
@@ -259,7 +259,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
     int8_t horizonLevelStrength = 100;
 
     if (!deltaStateIsSet && pidProfile->dterm_lpf_hz) {
-        for (axis = 0; axis < 3; axis++) deltaBiQuadState[axis] = *(biquad_t *)BiQuadNewLpf(pidProfile->dterm_lpf_hz);
+        for (axis = 0; axis < 3; axis++) deltaBiQuadState[axis] = (biquad_t *)BiQuadNewLpf(pidProfile->dterm_lpf_hz);
         deltaStateIsSet = true;
     }
 
@@ -348,7 +348,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
         lastError[axis] = RateError;
 
         if (deltaStateIsSet) {
-            delta = lrintf(applyBiQuadFilter((float) delta, &deltaBiQuadState[axis]));
+            delta = lrintf(applyBiQuadFilter((float) delta, deltaBiQuadState[axis]));
         }
 
         // Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 0ad9823b29..9dd0d7552f 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -41,7 +41,7 @@ int16_t gyroADC[XYZ_AXIS_COUNT];
 int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
 
 static gyroConfig_t *gyroConfig;
-static biquad_t gyroBiQuadState[3];
+static biquad_t *gyroBiQuadState[3];
 static bool gyroFilterStateIsSet;
 static uint8_t gyroLpfCutFreq;
 int axis;
@@ -57,7 +57,7 @@ void useGyroConfig(gyroConfig_t *gyroConfigToUse, uint8_t *gyro_lpf_hz)
 
 void initGyroFilterCoefficients(void) {
     if (gyroLpfCutFreq && targetLooptime) {  /* Initialisation needs to happen once samplingrate is known */
-        for (axis = 0; axis < 3; axis++) gyroBiQuadState[axis] = *(biquad_t *)BiQuadNewLpf(gyroLpfCutFreq);
+        for (axis = 0; axis < 3; axis++) gyroBiQuadState[axis] = (biquad_t *)BiQuadNewLpf(gyroLpfCutFreq);
         gyroFilterStateIsSet = true;
     }
 }
@@ -143,7 +143,7 @@ void gyroUpdate(void)
         if (!gyroFilterStateIsSet) {
             initGyroFilterCoefficients();
         } else {
-            for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) gyroADC[axis] = lrintf(applyBiQuadFilter((float) gyroADC[axis], &gyroBiQuadState[axis]));
+            for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) gyroADC[axis] = lrintf(applyBiQuadFilter((float) gyroADC[axis], gyroBiQuadState[axis]));
         }
     }