diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 4fa0f0fdaa..25faca7079 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -96,9 +96,11 @@ void pidInitFilters(const pidProfile_t *pidProfile)
     static firFilterDenoise_t denoisingFilter[2];
     static pt1Filter_t pt1FilterYaw;
 
+    uint32_t pidFrequencyNyquist = (1.0f / dT) / 2; // No rounding needed
+
     BUILD_BUG_ON(FD_YAW != 2); // only setting up Dterm filters on roll and pitch axes, so ensure yaw axis is 2
 
-    if (pidProfile->dterm_notch_hz == 0) {
+    if (pidProfile->dterm_notch_hz == 0 || pidProfile->dterm_notch_hz > pidFrequencyNyquist) {
         dtermNotchFilterApplyFn = nullFilterApply;
     } else {
         dtermNotchFilterApplyFn = (filterApplyFnPtr)biquadFilterApply;
@@ -109,7 +111,7 @@ void pidInitFilters(const pidProfile_t *pidProfile)
         }
     }
 
-    if (pidProfile->dterm_lpf_hz == 0) {
+    if (pidProfile->dterm_lpf_hz == 0 || pidProfile->dterm_lpf_hz > pidFrequencyNyquist) {
         dtermLpfApplyFn = nullFilterApply;
     } else {
         switch (pidProfile->dterm_filter_type) {
@@ -140,7 +142,7 @@ void pidInitFilters(const pidProfile_t *pidProfile)
         }
     }
 
-    if (pidProfile->yaw_lpf_hz == 0) {
+    if (pidProfile->yaw_lpf_hz == 0 || pidProfile->yaw_lpf_hz > pidFrequencyNyquist) {
         ptermYawFilterApplyFn = nullFilterApply;
     } else {
         ptermYawFilterApplyFn = (filterApplyFnPtr)pt1FilterApply;
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 9732a96859..32d2864525 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -280,7 +280,9 @@ void gyroInitFilters(void)
     notchFilter1ApplyFn = nullFilterApply;
     notchFilter2ApplyFn = nullFilterApply;
 
-    if (gyroConfig->gyro_soft_lpf_hz) {  // Initialisation needs to happen once samplingrate is known
+    uint32_t gyroFrequencyNyquist = (1.0f / (gyro.targetLooptime * 0.000001f)) / 2; // No rounding needed
+
+    if (gyroConfig->gyro_soft_lpf_hz && gyroConfig->gyro_soft_lpf_hz <= gyroFrequencyNyquist) {  // Initialisation needs to happen once samplingrate is known
         if (gyroConfig->gyro_soft_lpf_type == FILTER_BIQUAD) {
             softLpfFilterApplyFn = (filterApplyFnPtr)biquadFilterApply;
             for (int axis = 0; axis < 3; axis++) {
@@ -303,7 +305,7 @@ void gyroInitFilters(void)
         }
     }
 
-    if (gyroConfig->gyro_soft_notch_hz_1) {
+    if (gyroConfig->gyro_soft_notch_hz_1 && gyroConfig->gyro_soft_notch_hz_1 <= gyroFrequencyNyquist) {
         notchFilter1ApplyFn = (filterApplyFnPtr)biquadFilterApply;
         const float gyroSoftNotchQ1 = filterGetNotchQ(gyroConfig->gyro_soft_notch_hz_1, gyroConfig->gyro_soft_notch_cutoff_1);
         for (int axis = 0; axis < 3; axis++) {
@@ -311,7 +313,7 @@ void gyroInitFilters(void)
             biquadFilterInit(notchFilter1[axis], gyroConfig->gyro_soft_notch_hz_1, gyro.targetLooptime, gyroSoftNotchQ1, FILTER_NOTCH);
         }
     }
-    if (gyroConfig->gyro_soft_notch_hz_2) {
+    if (gyroConfig->gyro_soft_notch_hz_2 && gyroConfig->gyro_soft_notch_hz_2 <= gyroFrequencyNyquist) {
         notchFilter2ApplyFn = (filterApplyFnPtr)biquadFilterApply;
         const float gyroSoftNotchQ2 = filterGetNotchQ(gyroConfig->gyro_soft_notch_hz_2, gyroConfig->gyro_soft_notch_cutoff_2);
         for (int axis = 0; axis < 3; axis++) {