diff --git a/src/main/config/config.c b/src/main/config/config.c
index f5e2b62874..614923e87a 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 = 125;
+static const uint8_t EEPROM_CONF_VERSION = 126;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -402,6 +402,8 @@ static void resetConf(void)
     masterConfig.gyro_sync_denom = 4;
     masterConfig.gyro_soft_lpf_hz = 60;
 
+    masterConfig.pid_jitter_buffer = 20;
+
     resetAccelerometerTrims(&masterConfig.accZero);
 
     resetSensorAlignment(&masterConfig.sensorAlignmentConfig);
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index eb52cb4663..b70d1687c7 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -63,6 +63,8 @@ typedef struct master_t {
     uint16_t dcm_kp;                        // DCM filter proportional gain ( x 10000)
     uint16_t dcm_ki;                        // DCM filter integral gain ( x 10000)
 
+    uint8_t pid_jitter_buffer;              // Jitter buffer time in us for pid controller for smoother motor output
+
     gyroConfig_t gyroConfig;
 
     uint8_t mag_hardware;                   // Which mag hardware to use on boards with more than one device
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index a2f4257ee0..b5fe24da90 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -671,6 +671,7 @@ const clivalue_t valueTable[] = {
     { "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, 12 } },
+    { "pid_jitter_buffer",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.pid_jitter_buffer, .config.minmax = { 0,  100 } },
 
     { "pid_controller",             VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },
 
diff --git a/src/main/mw.c b/src/main/mw.c
index dd935d4752..38d280466d 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -101,7 +101,6 @@ enum {
 #define IBATINTERVAL (6 * 3500)
 
 #define GYRO_WATCHDOG_DELAY 80 //  delay for gyro sync
-#define JITTER_BUFFER_TIME 20  // cycleTime jitter buffer time
 
 uint16_t cycleTime = 0;         // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
 
@@ -720,7 +719,7 @@ void taskMainPidLoopCheck(void) {
     while (1) {
         if (gyroSyncCheckUpdate() || ((cycleTime + (micros() - previousTime)) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) {
             while (1) {
-                if (micros() >= JITTER_BUFFER_TIME + previousTime) break;
+                if (micros() >= masterConfig.pid_jitter_buffer + previousTime) break;
             }
             break;
         }