diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index ec50cff56e..ad97f45b4f 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -47,6 +47,7 @@
 #include "flight/gps_rescue.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
+#include "flight/rpm_filter.h"
 #include "flight/interpolated_setpoint.h"
 
 #include "io/gps.h"
@@ -872,6 +873,10 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
 
     rotateItermAndAxisError();
 
+#ifdef USE_RPM_FILTER
+    rpmFilterUpdate();
+#endif
+
 #ifdef USE_INTERPOLATED_SP
     bool newRcFrame = false;
     if (lastFrameNumber != getRcFrameNumber()) {
diff --git a/src/main/flight/rpm_filter.h b/src/main/flight/rpm_filter.h
index 74737fda75..0ead8bfbfd 100644
--- a/src/main/flight/rpm_filter.h
+++ b/src/main/flight/rpm_filter.h
@@ -36,7 +36,6 @@ PG_DECLARE(rpmFilterConfig_t, rpmFilterConfig);
 
 void  rpmFilterInit(const rpmFilterConfig_t *config);
 float rpmFilterGyro(int axis, float values);
-float rpmFilterDterm(int axis, float values);
 void  rpmFilterUpdate();
 bool isRpmFilterEnabled(void);
 float rpmMinMotorFrequency();