diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 429e663c71..b84d142239 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -69,6 +69,10 @@ PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
 #ifndef TARGET_DEFAULT_MIXER
 #define TARGET_DEFAULT_MIXER    MIXER_QUADX
 #endif
+
+#define DYN_LPF_THROTTLE_STEPS           100
+#define DYN_LPF_THROTTLE_UPDATE_DELAY_US 5000 // minimum of 5ms between updates
+
 PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
     .mixerMode = TARGET_DEFAULT_MIXER,
     .yaw_motors_reversed = false,
@@ -772,6 +776,26 @@ void applyMotorStop(void)
     }
 }
 
+#ifdef USE_DYN_LPF
+void updateDynLpfCutoffs(timeUs_t currentTimeUs, float throttle)
+{
+    static timeUs_t lastDynLpfUpdateUs = 0;
+    static int dynLpfPreviousQuantizedThrottle = -1;  // to allow an initial zero throttle to set the filter cutoff
+
+    if (cmpTimeUs(currentTimeUs, lastDynLpfUpdateUs) >= DYN_LPF_THROTTLE_UPDATE_DELAY_US) {
+        const int quantizedThrottle = lrintf(throttle * DYN_LPF_THROTTLE_STEPS); // quantize the throttle reduce the number of filter updates
+        if (quantizedThrottle != dynLpfPreviousQuantizedThrottle) {
+            // scale the quantized value back to the throttle range so the filter cutoff steps are repeatable
+            const float dynLpfThrottle = (float)quantizedThrottle / DYN_LPF_THROTTLE_STEPS;
+            dynLpfGyroUpdate(dynLpfThrottle);
+            dynLpfDTermUpdate(dynLpfThrottle);
+            dynLpfPreviousQuantizedThrottle = quantizedThrottle;
+            lastDynLpfUpdateUs = currentTimeUs;
+        }
+    }
+}
+#endif
+
 FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
 {
     if (isFlipOverAfterCrashMode()) {
@@ -860,9 +884,9 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
     }
 
     pidUpdateAntiGravityThrottleFilter(throttle);
+
 #ifdef USE_DYN_LPF
-    dynLpfGyroUpdate(throttle);
-    dynLpfDTermUpdate(throttle);
+    updateDynLpfCutoffs(currentTimeUs, throttle);
 #endif
 
 #if defined(USE_THROTTLE_BOOST)