diff --git a/Makefile b/Makefile
index 4e5f715038..1940a9ff1c 100644
--- a/Makefile
+++ b/Makefile
@@ -291,7 +291,6 @@ COMMON_SRC = build_config.c \
 		   flight/pid.c \
 		   flight/imu.c \
 		   flight/mixer.c \
-		   flight/lowpass.c \
 		   drivers/bus_i2c_soft.c \
 		   drivers/serial.c \
 		   drivers/sound_beeper.c \
diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index 468b944d99..14a9ff30dc 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -29,6 +29,19 @@
 
 #define BIQUAD_BANDWIDTH 1.9f     /* bandwidth in octaves */
 
+// PT1 Low Pass filter (when no dT specified it will be calculated from the cycleTime)
+float filterApplyPt1(float input, filterStatePt1_t *filter, float f_cut, float dT) {
+
+	// Pre calculate and store RC
+	if (!filter->RC) {
+		filter->RC = 1.0f / ( 2.0f * M_PI_FLOAT * f_cut );
+	}
+
+    filter->state = filter->state + dT / (filter->RC + dT) * (input - filter->state);
+
+    return filter->state;
+}
+
 /* sets up a biquad Filter */
 void BiQuadNewLpf(float filterCutFreq, biquad_t *newState, uint32_t refreshRate)
 {
diff --git a/src/main/common/filter.h b/src/main/common/filter.h
index 11ea51c9d9..89b9eae7e6 100644
--- a/src/main/common/filter.h
+++ b/src/main/common/filter.h
@@ -15,6 +15,12 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+typedef struct filterStatePt1_s {
+	float state;
+	float RC;
+	float constdT;
+} filterStatePt1_t;
+
 /* this holds the data required to update samples thru a filter */
 typedef struct biquad_s {
     float b0, b1, b2, a1, a2;
@@ -22,4 +28,5 @@ typedef struct biquad_s {
 } biquad_t;
 
 float applyBiQuadFilter(float sample, biquad_t *state);
+float filterApplyPt1(float input, filterStatePt1_t *filter, float f_cut, float dt);
 void BiQuadNewLpf(float filterCutFreq, biquad_t *newState, uint32_t refreshRate);
diff --git a/src/main/flight/lowpass.c b/src/main/flight/lowpass.c
deleted file mode 100755
index bb1b71c9d9..0000000000
--- a/src/main/flight/lowpass.c
+++ /dev/null
@@ -1,118 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <math.h>
-
-#include "common/maths.h"
-#include "flight/lowpass.h"
-
-//#define DEBUG_LOWPASS
-
-void generateLowpassCoeffs2(int16_t freq, lowpass_t *filter)
-{
-    float fixedScaler;
-    int i;
-
-    // generates coefficients for a 2nd-order butterworth low-pass filter
-    float freqf = (float)freq*0.001f;
-    float omega = tan_approx((float)M_PI*freqf/2.0f);
-    float scaling = 1.0f / (omega*omega + 1.4142136f*omega + 1.0f);
-
-
-#if defined(UNIT_TEST) && defined(DEBUG_LOWPASS)
-    printf("lowpass cutoff: %f, omega: %f\n", freqf, omega);
-#endif
-   
-    filter->bf[0] = scaling * omega*omega;
-    filter->bf[1] = 2.0f * filter->bf[0];
-    filter->bf[2] = filter->bf[0];
-
-    filter->af[0] = 1.0f;
-    filter->af[1] = scaling * (2.0f * omega*omega - 2.0f);
-    filter->af[2] = scaling * (omega*omega - 1.4142136f * omega + 1.0f);
-
-    // Scale for fixed-point
-    filter->input_bias = 1500; // Typical servo range is 1500 +/- 500
-    filter->input_shift = 16;
-    filter->coeff_shift = 24; 
-    fixedScaler = (float)(1ULL << filter->coeff_shift);
-    for (i = 0; i < LOWPASS_NUM_COEF; i++) {
-        filter->a[i] = LPF_ROUND(filter->af[i] * fixedScaler);
-        filter->b[i] = LPF_ROUND(filter->bf[i] * fixedScaler);
-#if defined(UNIT_TEST) && defined(DEBUG_LOWPASS)
-        printf("(%d) bf: %f af: %f b: %ld a: %ld\n", i, 
-                filter->bf[i], filter->af[i], filter->b[i], filter->a[i]);
-#endif
-    }
-
-    filter->freq = freq;
-}
-
-int32_t lowpassFixed(lowpass_t *filter, int32_t in, int16_t freq)
-{
-    int16_t coefIdx;
-    int64_t out;
-    int32_t in_s;
-  
-    // Check to see if cutoff frequency changed
-    if (freq != filter->freq) {
-        filter->init = false;
-    }
-
-    // Initialize if needed
-    if (!filter->init) {
-        generateLowpassCoeffs2(freq, filter);
-        for (coefIdx = 0; coefIdx < LOWPASS_NUM_COEF; coefIdx++) {
-            filter->x[coefIdx] = (in - filter->input_bias) << filter->input_shift;
-            filter->y[coefIdx] = (in - filter->input_bias) << filter->input_shift;
-        }
-        filter->init = true;
-    }
-
-    // Unbias input and scale
-    in_s = (in - filter->input_bias) << filter->input_shift;
-
-    // Delays
-    for (coefIdx = LOWPASS_NUM_COEF-1; coefIdx > 0; coefIdx--) {
-        filter->x[coefIdx] = filter->x[coefIdx-1];
-        filter->y[coefIdx] = filter->y[coefIdx-1];
-    }
-    filter->x[0] = in_s;
-
-    // Accumulate result
-    out = filter->x[0] * filter->b[0];
-    for (coefIdx = 1; coefIdx < LOWPASS_NUM_COEF; coefIdx++) {
-        out -= filter->y[coefIdx] * filter->a[coefIdx];
-        out += filter->x[coefIdx] * filter->b[coefIdx];
-    }
-
-    // Scale output by coefficient shift
-    out >>= filter->coeff_shift;
-    filter->y[0] = (int32_t)out;
-
-    // Scale output by input shift and round
-    out = (out + (1 << (filter->input_shift-1))) >> filter->input_shift;
-    
-    // Reapply bias
-    out += filter->input_bias;
-
-    return (int32_t)out;
-}
-
diff --git a/src/main/flight/lowpass.h b/src/main/flight/lowpass.h
deleted file mode 100644
index f1b57a315e..0000000000
--- a/src/main/flight/lowpass.h
+++ /dev/null
@@ -1,41 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-
-#define LOWPASS_NUM_COEF 3
-#define LPF_ROUND(x) (x < 0 ? (x - 0.5f) : (x + 0.5f))
-
-typedef struct lowpass_s {
-    bool init;
-    int16_t freq;                           // Normalized freq in 1/1000ths
-    float bf[LOWPASS_NUM_COEF];
-    float af[LOWPASS_NUM_COEF];
-    int64_t b[LOWPASS_NUM_COEF];
-    int64_t a[LOWPASS_NUM_COEF];
-    int16_t coeff_shift;
-    int16_t input_shift;
-    int32_t input_bias;
-    float xf[LOWPASS_NUM_COEF];
-    float yf[LOWPASS_NUM_COEF];
-    int32_t x[LOWPASS_NUM_COEF];
-    int32_t y[LOWPASS_NUM_COEF];
-} lowpass_t;
-
-void generateLowpassCoeffs2(int16_t freq, lowpass_t *filter);
-int32_t lowpassFixed(lowpass_t *filter, int32_t in, int16_t freq);
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 3ed612dc03..5ee0f64c03 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -28,6 +28,7 @@
 
 #include "common/axis.h"
 #include "common/maths.h"
+#include "common/filter.h"
 
 #include "drivers/system.h"
 #include "drivers/pwm_output.h"
@@ -35,6 +36,7 @@
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 #include "drivers/system.h"
+#include "drivers/gyro_sync.h"
 
 #include "rx/rx.h"
 
@@ -50,12 +52,12 @@
 #include "flight/failsafe.h"
 #include "flight/pid.h"
 #include "flight/imu.h"
-#include "flight/lowpass.h"
 
 #include "config/runtime_config.h"
 #include "config/config.h"
 
 uint8_t motorCount;
+extern float dT;
 
 int16_t motor[MAX_SUPPORTED_MOTORS];
 int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
@@ -77,7 +79,6 @@ int16_t servo[MAX_SUPPORTED_SERVOS];
 static int useServo;
 STATIC_UNIT_TESTED uint8_t servoCount;
 static servoParam_t *servoConf;
-static lowpass_t lowpassFilters[MAX_SUPPORTED_SERVOS];
 #endif
 
 static const motorMixer_t mixerQuadX[] = {
@@ -923,6 +924,7 @@ void filterServos(void)
 {
 #ifdef USE_SERVOS
     int16_t servoIdx;
+    static filterStatePt1_t servoFitlerState[MAX_SUPPORTED_SERVOS];
 
 #if defined(MIXER_DEBUG)
     uint32_t startTime = micros();
@@ -930,8 +932,7 @@ void filterServos(void)
 
     if (mixerConfig->servo_lowpass_enable) {
         for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
-            servo[servoIdx] = (int16_t)lowpassFixed(&lowpassFilters[servoIdx], servo[servoIdx], mixerConfig->servo_lowpass_freq);
-
+            servo[servoIdx] = filterApplyPt1(servo[servoIdx], &servoFitlerState[servoIdx], mixerConfig->servo_lowpass_freq, dT);
             // Sanity check
             servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);
         }
diff --git a/src/main/mw.c b/src/main/mw.c
index afd3c1efae..f1beac76a6 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -119,7 +119,8 @@ extern uint32_t currentTime;
 extern uint8_t PIDweight[3];
 extern bool antiWindupProtection;
 
-
+static filterStatePt1_t filteredCycleTimeState;
+uint16_t filteredCycleTime;
 static bool isRXDataNew;
 
 typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
@@ -177,21 +178,10 @@ void filterRc(void){
     static int16_t deltaRC[4] = { 0, 0, 0, 0 };
     static int16_t factor, rcInterpolationFactor;
     uint16_t rxRefreshRate;
-    static biquad_t filteredCycleTimeState;
-    static bool filterIsSet;
-    uint16_t filteredCycleTime;
 
     // Set RC refresh rate for sampling and channels to filter
     initRxRefreshRate(&rxRefreshRate);
 
-    /* Initialize cycletime filter */
-    if (!filterIsSet) {
-        BiQuadNewLpf(0.5f, &filteredCycleTimeState, targetLooptime);
-        filterIsSet = true;
-    }
-
-    filteredCycleTime = applyBiQuadFilter((float) cycleTime, &filteredCycleTimeState);
-
     rcInterpolationFactor = rxRefreshRate / filteredCycleTime + 1;
 
     if (isRXDataNew) {
@@ -647,6 +637,12 @@ void taskMainPidLoop(void)
     cycleTime = getTaskDeltaTime(TASK_SELF);
     dT = (float)targetLooptime * 0.000001f;
 
+    // Calculate average cycle time and average jitter
+    filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 0.5f, dT);
+
+    debug[0] = cycleTime;
+    debug[1] = cycleTime - filteredCycleTime;
+
     imuUpdateGyroAndAttitude();
 
     annexCode();
diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index b2512a414e..03b38cb5d5 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -19,8 +19,10 @@
 #include "stdint.h"
 
 #include "platform.h"
+#include "debug.h"
 
 #include "common/maths.h"
+#include "common/filter.h"
 
 #include "drivers/adc.h"
 #include "drivers/system.h"
@@ -33,11 +35,10 @@
 #include "rx/rx.h"
 
 #include "io/rc_controls.h"
-#include "flight/lowpass.h"
 #include "io/beeper.h"
 
 #define VBATT_PRESENT_THRESHOLD_MV    10
-#define VBATT_LPF_FREQ  10
+#define VBATT_LPF_FREQ  1.0f
 
 // Battery monitoring stuff
 uint8_t batteryCellCount = 3;       // cell count
@@ -52,7 +53,6 @@ int32_t amperage = 0;               // amperage read by current sensor in centia
 int32_t mAhDrawn = 0;               // milliampere hours drawn from the battery since start
 
 static batteryState_e batteryState;
-static lowpass_t lowpassFilter;
 
 uint16_t batteryAdcToVoltage(uint16_t src)
 {
@@ -64,12 +64,13 @@ uint16_t batteryAdcToVoltage(uint16_t src)
 static void updateBatteryVoltage(void)
 {
     uint16_t vbatSample;
-    uint16_t vbatFiltered;
+    static filterStatePt1_t vbatFilterState;
 
     // store the battery voltage with some other recent battery voltage readings
     vbatSample = vbatLatestADC = adcGetChannel(ADC_BATTERY);
-    vbatFiltered = (uint16_t)lowpassFixed(&lowpassFilter, vbatSample, VBATT_LPF_FREQ);
-    vbat = batteryAdcToVoltage(vbatFiltered);
+    float delta = micros() * 0.000001f;
+    vbatSample = filterApplyPt1(vbatSample, &vbatFilterState, VBATT_LPF_FREQ, delta);
+    vbat = batteryAdcToVoltage(vbatSample);
 }
 
 #define VBATTERY_STABLE_DELAY 40
diff --git a/src/test/Makefile b/src/test/Makefile
index 5bbc50b7be..9200ac02dc 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -332,29 +332,6 @@ $(OBJECT_DIR)/ws2811_unittest : \
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 
-$(OBJECT_DIR)/flight/lowpass.o : \
-	$(USER_DIR)/flight/lowpass.c \
-	$(USER_DIR)/flight/lowpass.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/lowpass.c -o $@
-
-$(OBJECT_DIR)/lowpass_unittest.o : \
-	$(TEST_DIR)/lowpass_unittest.cc \
-	$(USER_DIR)/flight/lowpass.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/lowpass_unittest.cc -o $@
-
-$(OBJECT_DIR)/lowpass_unittest : \
-	$(OBJECT_DIR)/flight/lowpass.o \
-	$(OBJECT_DIR)/lowpass_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
 $(OBJECT_DIR)/flight/mixer.o : \
 	$(USER_DIR)/flight/mixer.c \
 	$(USER_DIR)/flight/mixer.h \
diff --git a/src/test/unit/battery_unittest.cc b/src/test/unit/battery_unittest.cc
index 18103c68f1..e465084b16 100644
--- a/src/test/unit/battery_unittest.cc
+++ b/src/test/unit/battery_unittest.cc
@@ -22,9 +22,7 @@
 
 extern "C" {
     #include "sensors/battery.h"
-    
     #include "io/rc_controls.h"
-    #include "flight/lowpass.h"
     #include "io/beeper.h"
 }
 
diff --git a/src/test/unit/lowpass_unittest.cc b/src/test/unit/lowpass_unittest.cc
deleted file mode 100644
index 9506bd6e27..0000000000
--- a/src/test/unit/lowpass_unittest.cc
+++ /dev/null
@@ -1,131 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-#include <stdint.h>
-#include <limits.h>
-
-//#define DEBUG_LOWPASS
-
-extern "C" {
-    #include "flight/lowpass.h" 
-}
-
-static lowpass_t lowpassFilterReference;
-static lowpass_t lowpassFilter;
-
-#include "unittest_macros.h"
-#include "gtest/gtest.h"
-
-static float lowpassRef(lowpass_t *filter, float in, int16_t freq)
-{
-    int16_t coefIdx;
-    float out;
-
-    // Check to see if cutoff frequency changed
-    if (freq != filter->freq) {
-        filter->init = false;
-    }
-
-    // Initialize if needed
-    if (!filter->init) {
-        generateLowpassCoeffs2(freq, filter);
-        for (coefIdx = 0; coefIdx < LOWPASS_NUM_COEF; coefIdx++) {
-            filter->xf[coefIdx] = in;
-            filter->yf[coefIdx] = in;
-        }
-        filter->init = true;
-    }
-
-    // Delays
-    for (coefIdx = LOWPASS_NUM_COEF-1; coefIdx > 0; coefIdx--) {
-        filter->xf[coefIdx] = filter->xf[coefIdx-1];
-        filter->yf[coefIdx] = filter->yf[coefIdx-1];
-    }
-    filter->xf[0] = in;
-
-    // Accumulate result
-    out = filter->xf[0] * filter->bf[0];
-    for (coefIdx = 1; coefIdx < LOWPASS_NUM_COEF; coefIdx++) {
-        out += filter->xf[coefIdx] * filter->bf[coefIdx];
-        out -= filter->yf[coefIdx] * filter->af[coefIdx];
-    }
-    filter->yf[0] = out;
-
-    return out;
-}
-
-TEST(LowpassTest, Lowpass)
-{
-    int16_t servoCmds[3000];
-    int16_t expectedOut[3000];
-    int16_t referenceOut;
-    int16_t filterOut;
-    uint16_t sampleIdx;
-    int16_t freq;
-
-    uint16_t sampleCount = sizeof(servoCmds) / sizeof(int16_t);
-
-    // generate inputs and expecteds
-    for (sampleIdx = 0; sampleIdx < sampleCount; sampleIdx++) {
-        if (sampleIdx < 1000) {
-            servoCmds[sampleIdx] = 500;
-        } else if (sampleIdx >= 1000 && sampleIdx < 2000) {
-            servoCmds[sampleIdx] = 2500;
-        } else {
-            servoCmds[sampleIdx] = 1500;
-        }
-
-        if ((sampleIdx >= 900 && sampleIdx < 1000) ||
-            (sampleIdx >= 1900 && sampleIdx < 2000)||
-            (sampleIdx >= 2900 && sampleIdx < 3000)) {
-            expectedOut[sampleIdx] = servoCmds[sampleIdx];
-        } else {
-            expectedOut[sampleIdx] = -1;
-        }
-    }
-
-    // Test all frequencies
-    for (freq = 10; freq <= 400; freq++) {
-#ifdef DEBUG_LOWPASS
-        printf("*** Testing freq: %d (%f)\n", freq, ((float)freq * 0.001f));
-#endif
-        // Run tests
-        for (sampleIdx = 0; sampleIdx < sampleCount; sampleIdx++) 
-        {
-            // Filter under test
-            filterOut = (int16_t)lowpassFixed(&lowpassFilter, servoCmds[sampleIdx], freq);
-
-            // Floating-point reference
-            referenceOut = (int16_t)(lowpassRef(&lowpassFilterReference, (float)servoCmds[sampleIdx], freq) + 0.5f);
-
-            if (expectedOut[sampleIdx] >= 0) {
-                EXPECT_EQ(filterOut, expectedOut[sampleIdx]);
-            }
-            // Some tolerance
-            // TODO adjust precision to remove the need for this?
-            EXPECT_LE(filterOut, referenceOut + 1);
-            EXPECT_GE(filterOut, referenceOut - 1);
-        } // for each sample
-    } // for each freq
-}
-
-// STUBS
-
-extern "C" {
-
-}
-
-