diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index 015064827a..8646aa4c01 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -303,6 +303,17 @@ float firFilterDenoiseUpdate(firFilterDenoise_t *filter, float input)
     }
 }
 
+// ledvinap's proposed RC+FIR2 Biquad-- equivalent to 'static' fast Kalman, without error estimation
+void biquadRCFIR2FilterInit(biquadFilter_t *filter, float q, float r)
+{
+    float k = 2 * 2 * sqrt(q) / (sqrt(q + 4 * r) + sqrt(q));  // 1st order IIR filter k
+    filter->b0 = k / 2;
+    filter->b1 = k / 2;
+    filter->b2 = 0;
+    filter->a1 = -(1 - k);
+    filter->a2 = 0;
+}
+
 // Fast two-state Kalman
 void fastKalmanInit(fastKalman_t *filter, float q, float r, float p)
 {
diff --git a/src/main/common/filter.h b/src/main/common/filter.h
index badc68fba5..5ecbcb0078 100644
--- a/src/main/common/filter.h
+++ b/src/main/common/filter.h
@@ -96,6 +96,8 @@ float biquadFilterApplyDF1(biquadFilter_t *filter, float input);
 float biquadFilterApply(biquadFilter_t *filter, float input);
 float filterGetNotchQ(uint16_t centerFreq, uint16_t cutoff);
 
+void biquadRCFIR2FilterInit(biquadFilter_t *filter, float q, float r);
+
 void fastKalmanInit(fastKalman_t *filter, float q, float r, float p);
 float fastKalmanUpdate(fastKalman_t *filter, float input);
 
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index d8a8775a9b..8f133698ee 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -356,10 +356,10 @@ const clivalue_t valueTable[] = {
     { "gyro_notch1_cutoff",         VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_1) },
     { "gyro_notch2_hz",             VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_2) },
     { "gyro_notch2_cutoff",         VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_2) },
-#if defined(USE_GYRO_FAST_KALMAN)
-    { "gyro_kalman_q",              VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_kalman_q) },
-    { "gyro_kalman_r",              VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_kalman_r) },
-    { "gyro_kalman_p",              VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_kalman_p) },
+#if defined(USE_GYRO_FAST_KALMAN) || defined(USE_GYRO_BIQUAD_RC_FIR2)
+    { "gyro_filter_q",              VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_q) },
+    { "gyro_filter_r",              VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_r) },
+    { "gyro_filter_p",              VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_p) },
 #endif
     { "moron_threshold",            VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0,  200 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroMovementCalibrationThreshold) },
 #ifdef USE_GYRO_OVERFLOW_CHECK
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index db52c45e52..2bf7646fcd 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -122,6 +122,10 @@ typedef struct gyroSensor_s {
     // gyro kalman filter
     filterApplyFnPtr fastKalmanApplyFn;
     fastKalman_t fastKalman[XYZ_AXIS_COUNT];
+#elif defined(USE_GYRO_BIQUAD_RC_FIR2)
+    // gyro biquad RC FIR2 filter
+    filterApplyFnPtr biquadRCFIR2ApplyFn;
+    biquadFilter_t biquadRCFIR2[XYZ_AXIS_COUNT];
 #endif
 } gyroSensor_t;
 
@@ -132,7 +136,9 @@ STATIC_UNIT_TESTED gyroDev_t * const gyroDevPtr = &gyroSensor1.gyroDev;
 #endif
 
 #if defined(USE_GYRO_FAST_KALMAN)
-static void gyroInitFilterKalman(gyroSensor_t *gyroSensor, uint16_t gyro_kalman_q, uint16_t gyro_kalman_r, uint16_t gyro_kalman_p);
+static void gyroInitFilterKalman(gyroSensor_t *gyroSensor, uint16_t gyro_filter_q, uint16_t gyro_filter_r, uint16_t gyro_filter_p);
+#elif defined (USE_GYRO_BIQUAD_RC_FIR2)
+static void gyroInitFilterBiquadRCFIR2(gyroSensor_t *gyroSensor, uint16_t gyro_filter_q, uint16_t gyro_filter_r);
 #endif
 static void gyroInitSensorFilters(gyroSensor_t *gyroSensor);
 
@@ -164,9 +170,9 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_soft_notch_hz_2 = 200,
     .gyro_soft_notch_cutoff_2 = 100,
     .checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES,
-    .gyro_kalman_q = 0,
-    .gyro_kalman_r = 0,
-    .gyro_kalman_p = 0,
+    .gyro_filter_q = 0,
+    .gyro_filter_r = 0,
+    .gyro_filter_p = 0,
 );
 
 
@@ -554,15 +560,28 @@ static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor)
 #endif
 
 #if defined(USE_GYRO_FAST_KALMAN)
-static void gyroInitFilterKalman(gyroSensor_t *gyroSensor, uint16_t gyro_kalman_q, uint16_t gyro_kalman_r, uint16_t gyro_kalman_p)
+static void gyroInitFilterKalman(gyroSensor_t *gyroSensor, uint16_t gyro_filter_q, uint16_t gyro_filter_r, uint16_t gyro_filter_p)
 {
     gyroSensor->fastKalmanApplyFn = nullFilterApply;
 
     // If Kalman Filter noise covariances for Process and Measurement are non-zero, we treat as enabled
-    if (gyro_kalman_q != 0 && gyro_kalman_r != 0) {
+    if (gyro_filter_q != 0 && gyro_filter_r != 0) {
         gyroSensor->fastKalmanApplyFn = (filterApplyFnPtr)fastKalmanUpdate;
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            fastKalmanInit(&gyroSensor->fastKalman[axis], gyro_kalman_q, gyro_kalman_r, gyro_kalman_p);
+            fastKalmanInit(&gyroSensor->fastKalman[axis], gyro_filter_q, gyro_filter_r, gyro_filter_p);
+        }
+    }
+}
+#elif defined(USE_GYRO_BIQUAD_RC_FIR2)
+static void gyroInitFilterBiquadRCFIR2(gyroSensor_t *gyroSensor, uint16_t gyro_filter_q, uint16_t gyro_filter_r)
+{
+    gyroSensor->biquadRCFIR2ApplyFn = nullFilterApply;
+
+    // If the biquad RC+FIR2 Kalman-esque Process and Measurement noise covariances are non-zero, we treat as enabled
+    if (gyro_filter_q != 0 && gyro_filter_r != 0) {
+        gyroSensor->biquadRCFIR2ApplyFn = (filterApplyFnPtr)biquadFilterApply;
+        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+            biquadRCFIR2FilterInit(&gyroSensor->biquadRCFIR2[axis], gyro_filter_q, gyro_filter_r);
         }
     }
 }
@@ -574,7 +593,9 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor)
     gyroInitSlewLimiter(gyroSensor);
 #endif
 #if defined(USE_GYRO_FAST_KALMAN)
-    gyroInitFilterKalman(gyroSensor, gyroConfig()->gyro_kalman_q, gyroConfig()->gyro_kalman_r, gyroConfig()->gyro_kalman_p);
+    gyroInitFilterKalman(gyroSensor, gyroConfig()->gyro_filter_q, gyroConfig()->gyro_filter_r, gyroConfig()->gyro_filter_p);
+#elif defined(USE_GYRO_BIQUAD_RC_FIR2)
+    gyroInitFilterBiquadRCFIR2(gyroSensor, gyroConfig()->gyro_filter_q, gyroConfig()->gyro_filter_r);
 #endif
     gyroInitFilterLpf(gyroSensor, gyroConfig()->gyro_soft_lpf_hz);
     gyroInitFilterNotch1(gyroSensor, gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_cutoff_1);
@@ -780,6 +801,8 @@ static FAST_CODE void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs_t curren
             float gyroADCf = (float)gyroSensor->gyroDev.gyroADC[axis] * gyroSensor->gyroDev.scale;
 #if defined(USE_GYRO_FAST_KALMAN)
             gyroADCf = gyroSensor->fastKalmanApplyFn((filter_t *)&gyroSensor->fastKalman[axis], gyroADCf);
+#elif defined(USE_GYRO_BIQUAD_RC_FIR2)
+            gyroADCf = gyroSensor->biquadRCFIR2ApplyFn((filter_t *)&gyroSensor->biquadRCFIR2[axis], gyroADCf);
 #endif
 #ifdef USE_GYRO_DATA_ANALYSE
             gyroADCf = gyroSensor->notchFilterDynApplyFn((filter_t *)&gyroSensor->notchFilterDyn[axis], gyroADCf);
@@ -805,6 +828,9 @@ static FAST_CODE void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs_t curren
 #if defined(USE_GYRO_FAST_KALMAN)
             // apply fast kalman
             gyroADCf = gyroSensor->fastKalmanApplyFn((filter_t *)&gyroSensor->fastKalman[axis], gyroADCf);
+#elif defined(USE_GYRO_BIQUAD_RC_FIR2)
+            // apply biquad RC+FIR2
+            gyroADCf = gyroSensor->biquadRCFIR2ApplyFn((filter_t *)&gyroSensor->biquadRCFIR2[axis], gyroADCf);
 #endif
 
 #ifdef USE_GYRO_DATA_ANALYSE
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index d53e066324..df8dea6ae9 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -70,9 +70,9 @@ typedef struct gyroConfig_s {
     uint16_t gyro_soft_notch_hz_2;
     uint16_t gyro_soft_notch_cutoff_2;
     gyroOverflowCheck_e checkOverflow;
-    uint16_t gyro_kalman_q;
-    uint16_t gyro_kalman_r;
-    uint16_t gyro_kalman_p;
+    uint16_t gyro_filter_q;
+    uint16_t gyro_filter_r;
+    uint16_t gyro_filter_p;
 } gyroConfig_t;
 
 PG_DECLARE(gyroConfig_t, gyroConfig);
diff --git a/src/main/target/common_fc_pre.h b/src/main/target/common_fc_pre.h
index f1c0877d3b..41226f8e49 100644
--- a/src/main/target/common_fc_pre.h
+++ b/src/main/target/common_fc_pre.h
@@ -171,5 +171,6 @@
 #define USE_NAV
 #define USE_TELEMETRY_IBUS
 #define USE_UNCOMMON_MIXERS
-#define USE_GYRO_FAST_KALMAN
+// #define USE_GYRO_FAST_KALMAN
+#define USE_GYRO_BIQUAD_RC_FIR2
 #endif