diff --git a/src/main/config/config.c b/src/main/config/config.c
index 25b8a64bc8..ffa89d85ff 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -171,9 +171,6 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->D8[PIDVEL] = 1;
 
     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
-    pidProfile->gyro_fir_filter_enable = 0;
-    pidProfile->gyro_cut_hz = 0;
-    pidProfile->pterm_cut_hz = 60;
     pidProfile->dterm_cut_hz = 17;
 
     pidProfile->P_f[ROLL] = 1.5f;     // new PID with preliminary defaults test carefully
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 0119051a5c..78053f2f93 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -185,16 +185,6 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         // -----calculate P component
         PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
 
-        // Pterm low pass
-        if (pidProfile->pterm_cut_hz) {
-            if (axis == YAW) {
-                PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
-            }
-            else {
-                PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
-            }
-        }
-
         // -----calculate I component.
         errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
 
@@ -296,16 +286,6 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
 
         PTerm -= ((int32_t)gyroADC[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
 
-        // Pterm low pass
-        if (pidProfile->pterm_cut_hz) {
-            if (axis == YAW) {
-                PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
-            }
-            else {
-                PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
-            }
-        }
-
         delta = (gyroADC[axis] - lastGyro[axis]) / 4;
         lastGyro[axis] = gyroADC[axis];
         deltaSum = delta1[axis] + delta2[axis] + delta;
@@ -391,16 +371,6 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
 
         PTerm -= ((int32_t)(gyroADC[axis] / 4) * dynP8[axis]) >> 6;   // 32 bits is needed for calculation
 
-        // Pterm low pass
-        if (pidProfile->pterm_cut_hz) {
-            if (axis == YAW) {
-                PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
-            }
-            else {
-                PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
-            }
-        }
-
         delta = (gyroADC[axis] - lastGyro[axis]) / 4;   // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
         lastGyro[axis] = gyroADC[axis];
         DTerm = delta1[axis] + delta2[axis] + delta;
@@ -520,16 +490,6 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
 
         PTerm -= ((int32_t)gyroADC[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
 
-        // Pterm low pass
-        if (pidProfile->pterm_cut_hz) {
-            if (axis == YAW) {
-                PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
-            }
-            else {
-                PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
-            }
-        }
-
         delta = (gyroADC[axis] - lastGyro[axis]) / 4;
         lastGyro[axis] = gyroADC[axis];
         deltaSum = delta1[axis] + delta2[axis] + delta;
@@ -647,11 +607,6 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 
         PTerm -= gyroADCQuant * dynP8[axis] * 0.003f;
 
-        // Pterm low pass
-        if (pidProfile->pterm_cut_hz) {
-            PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
-        }
-
         delta = (gyroADCQuant - lastGyro[axis]) / ACCDeltaTimeINS;
 
         lastGyro[axis] = gyroADCQuant;
@@ -699,11 +654,6 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
         }
     }
 
-    // Pterm low pass
-    if (pidProfile->pterm_cut_hz) {
-        PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
-    }
-
     axisPID[FD_YAW] = PTerm + ITerm;
     axisPID[FD_YAW] = lrintf(axisPID[FD_YAW]);                                 // Round up result.
 
@@ -793,16 +743,6 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
         // -----calculate P component
         PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
 
-        // Pterm low pass
-        if (pidProfile->pterm_cut_hz) {
-            if (axis == YAW) {
-                PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
-            }
-            else {
-                PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
-            }
-        }
-
         // -----calculate I component
         // there should be no division before accumulating the error to integrator, because the precision would be reduced.
         // Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 80bcd6427a..cf30dbe1f7 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -519,10 +519,7 @@ const clivalue_t valueTable[] = {
     { "d_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], 0, 200 },
 
     { "yaw_p_limit",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX },
-	{ "gyro_cut_hz",                VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_cut_hz, 0, 200 },
-	{ "pterm_cut_hz",               VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pterm_cut_hz, 0, 200 },
 	{ "dterm_cut_hz",               VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, 0, 200 },
-    { "gyro_fir_filter_enable",     VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_fir_filter_enable, 0, 1 },
 
 #ifdef BLACKBOX
     { "blackbox_rate_num",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.blackbox_rate_num, 1, 32 },
diff --git a/src/main/mw.c b/src/main/mw.c
index dc839a0267..ae7528cb45 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -688,21 +688,6 @@ void processRx(void)
 
 }
 
-// Gyro Low Pass
-void filterGyro(void) {
-    int axis;
-    static float dTGyro;
-    static filterStatePt1_t gyroADCState[XYZ_AXIS_COUNT];
-
-    if (!dTGyro) {
-        dTGyro = (float)targetLooptime * 0.000001f;
-    }
-
-    for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-        gyroADC[axis] = filterApplyPt1(gyroADC[axis], &gyroADCState[axis], currentProfile->pidProfile.gyro_cut_hz, dTGyro);
-    }
-}
-
 void filterRc(void){
     static int16_t lastCommand[4] = { 0, 0, 0, 0 };
     static int16_t deltaRC[4] = { 0, 0, 0, 0 };
@@ -812,11 +797,7 @@ void loop(void)
 
         dT = (float)cycleTime * 0.000001f;
 
-        if (currentProfile->pidProfile.gyro_fir_filter_enable) {
-            filterApply7TapFIR(gyroADC);
-        else if (currentProfile->pidProfile.gyro_cut_hz) {
-            filterGyro();
-        }
+        filterApply7TapFIR(gyroADC);
 
         if (masterConfig.rcSmoothing) {
             filterRc();