diff --git a/src/main/common/filter.h b/src/main/common/filter.h
index be3bacd852..6f3b588549 100644
--- a/src/main/common/filter.h
+++ b/src/main/common/filter.h
@@ -5,7 +5,7 @@
  *      Author: borisb
  */
 
-#define YAW_PTERM_FILTER 30
+
 
 typedef struct filterStatePt1_s {
 	float state;
diff --git a/src/main/config/config.c b/src/main/config/config.c
index 03e7b96a50..1373ac1238 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -132,7 +132,7 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 112;
+static const uint8_t EEPROM_CONF_VERSION = 113;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -175,6 +175,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->D8[PIDVEL] = 1;
 
     pidProfile->dterm_cut_hz = 40;
+    pidProfile->yaw_pterm_cut_hz = 50;
 
     pidProfile->P_f[ROLL] = 1.5f;     // new PID with preliminary defaults test carefully
     pidProfile->I_f[ROLL] = 0.4f;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 24616c95c5..372caba9d7 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -173,8 +173,8 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         // -----calculate P component
         PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
 
-        if (axis == YAW) {
-            PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
+        if (axis == YAW && pidProfile->yaw_pterm_cut_hz) {
+            PTerm = filterApplyPt1(PTerm, &yawPTermState, pidProfile->yaw_pterm_cut_hz, dT);
         }
 
         // -----calculate I component.
@@ -289,8 +289,8 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
         // -----calculate P component
         PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
 
-        if (axis == YAW) {
-            PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
+        if (axis == YAW && pidProfile->yaw_pterm_cut_hz) {
+            PTerm = filterApplyPt1(PTerm, &yawPTermState, pidProfile->yaw_pterm_cut_hz, dT);
         }
 
         // -----calculate I component
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index c3ca0c7a66..c4e6798de2 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -56,6 +56,7 @@ typedef struct pidProfile_s {
     uint8_t H_sensitivity;
 
     uint8_t dterm_cut_hz;                   // (default 17Hz, Range 1-50Hz) Used for PT1 element in PID1, PID2 and PID5
+    uint8_t yaw_pterm_cut_hz;              // Yaw P low pass filter for pterm. very usefull on noisy setups
 
 #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 64824c6fd6..85ac672aa9 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -520,6 +520,7 @@ const clivalue_t valueTable[] = {
     { "d_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], 0, 200 },
 
 	{ "dterm_cut_hz",               VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, 0, 200 },
+	{ "yaw_pterm_cut_hz",           VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz, 0, 200 },
 
 #ifdef GTUNE
     { "gtune_loP_rll",              VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], 10, 200 },