diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index 2462ad4c56..d82e4b41e4 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -1307,10 +1307,10 @@ const clivalue_t valueTable[] = {
 
 #ifdef USE_RPM_FILTER
     { "gyro_rpm_notch_harmonics",  VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 3 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, gyro_rpm_notch_harmonics) },
-    { "gyro_rpm_notch_q",  VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 100 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, gyro_rpm_notch_q) },
+    { "gyro_rpm_notch_q",  VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 1000 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, gyro_rpm_notch_q) },
     { "gyro_rpm_notch_min",  VAR_UINT8 | MASTER_VALUE, .config.minmax = { 50, 200 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, gyro_rpm_notch_min) },
     { "dterm_rpm_notch_harmonics",  VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 3 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, dterm_rpm_notch_harmonics) },
-    { "dterm_rpm_notch_q",  VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 100 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, dterm_rpm_notch_q) },
+    { "dterm_rpm_notch_q",  VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 1000 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, dterm_rpm_notch_q) },
     { "dterm_rpm_notch_min",  VAR_UINT8 | MASTER_VALUE, .config.minmax = { 50, 200 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, dterm_rpm_notch_min) },
 #endif
 };
diff --git a/src/main/sensors/rpm_filter.c b/src/main/sensors/rpm_filter.c
index 781b432786..b003199dba 100644
--- a/src/main/sensors/rpm_filter.c
+++ b/src/main/sensors/rpm_filter.c
@@ -61,8 +61,7 @@ static rpmNotchFilter_t filters[2];
 static rpmNotchFilter_t* gyroFilter;
 static rpmNotchFilter_t* dtermFilter;
 
-
-PG_REGISTER_WITH_RESET_FN(rpmFilterConfig_t, rpmFilterConfig, PG_RPM_FILTER_CONFIG, 1);
+PG_REGISTER_WITH_RESET_FN(rpmFilterConfig_t, rpmFilterConfig, PG_RPM_FILTER_CONFIG, 2);
 
 void pgResetFn_rpmFilterConfig(rpmFilterConfig_t *config)
 {
@@ -79,7 +78,7 @@ static void rpmNotchFilterInit(rpmNotchFilter_t* filter, int harmonics, int minH
 {
     filter->harmonics = harmonics;
     filter->minHz = minHz;
-    filter->q = q / 10.0f;
+    filter->q = q / 100.0f;
     filter->loopTime = looptime;
 
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
@@ -94,8 +93,13 @@ static void rpmNotchFilterInit(rpmNotchFilter_t* filter, int harmonics, int minH
 
 void rpmFilterInit(const rpmFilterConfig_t *config)
 {
-    pidLooptime = gyro.targetLooptime * pidConfig()->pid_process_denom;
     numberRpmNotchFilters = 0;
+    if (!motorConfig()->dev.useDshotTelemetry) {
+        gyroFilter = dtermFilter = NULL;
+        return;
+    }
+
+    pidLooptime = gyro.targetLooptime * pidConfig()->pid_process_denom;
     if (config->gyro_rpm_notch_harmonics) {
         gyroFilter = &filters[numberRpmNotchFilters++];
         rpmNotchFilterInit(gyroFilter, config->gyro_rpm_notch_harmonics,
@@ -108,7 +112,7 @@ void rpmFilterInit(const rpmFilterConfig_t *config)
     }
 
     for (int i = 0; i < getMotorCount(); i++) {
-        pt1FilterInit(&rpmFilters[i], pt1FilterGain(RPM_MOTOR_FILTER_CUTOFF, gyro.targetLooptime));
+        pt1FilterInit(&rpmFilters[i], pt1FilterGain(RPM_MOTOR_FILTER_CUTOFF, pidLooptime));
     }
 
     erpmToHz = ERPM_PER_LSB / SECONDS_PER_MINUTE  / (motorConfig()->motorPoleCount / 2.0f);
diff --git a/src/main/sensors/rpm_filter.h b/src/main/sensors/rpm_filter.h
index cef92f2c78..5732e5552d 100644
--- a/src/main/sensors/rpm_filter.h
+++ b/src/main/sensors/rpm_filter.h
@@ -27,11 +27,11 @@ typedef struct rpmFilterConfig_s
 {
     uint8_t  gyro_rpm_notch_harmonics;   // how many harmonics should be covered with notches? 0 means filter off
     uint8_t  gyro_rpm_notch_min;         // minimum frequency of the notches
-    uint8_t  gyro_rpm_notch_q;           // q of the notches
+    uint16_t gyro_rpm_notch_q;           // q of the notches
 
-    uint8_t  dterm_rpm_notch_harmonics;   // how many harmonics should be covered with notches? 0 means filter off
-    uint8_t  dterm_rpm_notch_min;         // minimum frequency of the notches
-    uint8_t  dterm_rpm_notch_q;           // q of the notches
+    uint8_t  dterm_rpm_notch_harmonics;  // how many harmonics should be covered with notches? 0 means filter off
+    uint8_t  dterm_rpm_notch_min;        // minimum frequency of the notches
+    uint16_t dterm_rpm_notch_q;          // q of the notches
 
 } rpmFilterConfig_t;