diff --git a/src/main/config/config.c b/src/main/config/config.c
index ac20cfc6a0..2ad23c9b25 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -134,7 +134,7 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 122;
+static const uint8_t EEPROM_CONF_VERSION = 123;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -177,6 +177,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->D8[PIDVEL] = 1;
 
     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
+    pidProfile->dterm_average_count = 3;
     pidProfile->dterm_lpf_hz = 0;    // filtering ON by default
     pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
     pidProfile->airModeInsaneAcrobilityFactor = 0;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 373a51f36f..27e99612f5 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -58,7 +58,7 @@ int16_t axisPID[3];
 int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 #endif
 
-#define DELTA_TOTAL_SAMPLES 3
+#define DELTA_MAX_SAMPLES 10
 
 // PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
 uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
@@ -141,7 +141,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
     float RateError, AngleRate, gyroRate;
     float ITerm,PTerm,DTerm;
     static float lastErrorForDelta[3];
-    static float previousDelta[3][DELTA_TOTAL_SAMPLES];
+    static float previousDelta[3][DELTA_MAX_SAMPLES];
     float delta, deltaSum;
     int axis, deltaCount;
     float horizonLevelStrength = 1;
@@ -244,10 +244,10 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         } else {
             // Apply moving average
             deltaSum = 0;
-            for (deltaCount = DELTA_TOTAL_SAMPLES-1; deltaCount > 0; deltaCount--) previousDelta[axis][deltaCount] = previousDelta[axis][deltaCount-1];
+            for (deltaCount = pidProfile->dterm_average_count-1; deltaCount > 0; deltaCount--) previousDelta[axis][deltaCount] = previousDelta[axis][deltaCount-1];
             previousDelta[axis][0] = delta;
-            for (deltaCount = 0; deltaCount < DELTA_TOTAL_SAMPLES; deltaCount++) deltaSum += previousDelta[axis][deltaCount];
-            delta = (deltaSum / DELTA_TOTAL_SAMPLES);
+            for (deltaCount = 0; deltaCount < pidProfile->dterm_average_count; deltaCount++) deltaSum += previousDelta[axis][deltaCount];
+            delta = (deltaSum / pidProfile->dterm_average_count);
         }
 
         DTerm = constrainf(delta * pidProfile->D_f[axis] * PIDweight[axis] / 100, -300.0f, 300.0f);
@@ -283,10 +283,10 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
     int32_t rc, error, errorAngle, delta, gyroError;
     int32_t PTerm, ITerm, PTermACC, ITermACC, DTerm;
     static int16_t lastErrorForDelta[2];
-    static int32_t previousDelta[3][DELTA_TOTAL_SAMPLES];
+    static int32_t previousDelta[2][DELTA_MAX_SAMPLES];
 
     if (!deltaStateIsSet && pidProfile->dterm_lpf_hz) {
-        for (axis = 0; axis < 3; axis++) BiQuadNewLpf(pidProfile->dterm_lpf_hz, &deltaBiQuadState[axis], targetLooptime);
+        for (axis = 0; axis < 2; axis++) BiQuadNewLpf(pidProfile->dterm_lpf_hz, &deltaBiQuadState[axis], targetLooptime);
         deltaStateIsSet = true;
     }
 
@@ -361,10 +361,10 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
         } else {
             // Apply moving average
             DTerm = 0;
-            for (deltaCount = DELTA_TOTAL_SAMPLES -1; deltaCount > 0; deltaCount--) previousDelta[axis][deltaCount] = previousDelta[axis][deltaCount-1];
+            for (deltaCount = pidProfile->dterm_average_count-1; deltaCount > 0; deltaCount--) previousDelta[axis][deltaCount] = previousDelta[axis][deltaCount-1];
             previousDelta[axis][0] = delta;
-            for (deltaCount = 0; deltaCount < DELTA_TOTAL_SAMPLES; deltaCount++) DTerm += previousDelta[axis][deltaCount];
-            delta = DTerm;
+            for (deltaCount = 0; deltaCount < pidProfile->dterm_average_count; deltaCount++) DTerm += previousDelta[axis][deltaCount];
+            delta = (DTerm / pidProfile->dterm_average_count) * 3;  // Keep same original scaling
         }
 
         DTerm = ((int32_t)DTerm * dynD8[axis]) >> 5;   // 32 bits is needed for calculation
@@ -432,7 +432,7 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
     int axis, deltaCount;
     int32_t PTerm, ITerm, DTerm, delta, deltaSum;
     static int32_t lastErrorForDelta[3] = { 0, 0, 0 };
-    static int32_t previousDelta[3][DELTA_TOTAL_SAMPLES];
+    static int32_t previousDelta[3][DELTA_MAX_SAMPLES];
     int32_t AngleRateTmp, RateError, gyroRate;
 
     int8_t horizonLevelStrength = 100;
@@ -538,10 +538,10 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
         } else {
             // Apply moving average
             deltaSum = 0;
-            for (deltaCount = DELTA_TOTAL_SAMPLES -1; deltaCount > 0; deltaCount--) previousDelta[axis][deltaCount] = previousDelta[axis][deltaCount-1];
+            for (deltaCount = pidProfile->dterm_average_count -1; deltaCount > 0; deltaCount--) previousDelta[axis][deltaCount] = previousDelta[axis][deltaCount-1];
             previousDelta[axis][0] = delta;
-            for (deltaCount = 0; deltaCount < DELTA_TOTAL_SAMPLES; deltaCount++) deltaSum += previousDelta[axis][deltaCount];
-            delta = deltaSum;
+            for (deltaCount = 0; deltaCount < pidProfile->dterm_average_count; deltaCount++) deltaSum += previousDelta[axis][deltaCount];
+            delta = (deltaSum / pidProfile->dterm_average_count) * 3;  // Keep same original scaling
         }
 
         DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 4dd95450cc..2688804495 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -68,6 +68,7 @@ typedef struct pidProfile_s {
     float dterm_lpf_hz;                     // Delta Filter in hz
     uint8_t deltaMethod;                  // Alternative delta Calculation
     uint16_t yaw_p_limit;
+    uint8_t dterm_average_count;            // Configurable delta count for dterm
 
 #ifdef GTUNE
     uint8_t  gtune_lolimP[3];               // [0..200] Lower limit of P during G tune
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index cbe309bfb6..ee40c878c8 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -676,6 +676,7 @@ const clivalue_t valueTable[] = {
     { "mag_declination",            VAR_INT16  | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000,  18000 } },
     { "pid_delta_method",           VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaMethod, .config.lookup = { TABLE_DELTA_METHOD } },
     { "dterm_lpf_hz",               VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
+    { "dterm_average_count",        VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_average_count, .config.minmax = {2, 10 } },
 
     { "pid_controller",             VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },