diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 6ca00b0446..8346090a87 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -1041,7 +1041,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
             // loop execution to be delayed.
             const float delta =
                 - (gyroRateDterm[axis] - previousGyroRateDterm[axis]) * pidRuntime.pidFrequency;
-            float preTpaData = pidRuntime.pidCoefficient[axis].Kd * delta;
+            float preTpaD = pidRuntime.pidCoefficient[axis].Kd * delta;
 
 #if defined(USE_ACC)
             if (cmpTimeUs(currentTimeUs, levelModeStartTimeUs) > CRASH_RECOVERY_DETECTION_DELAY_US) {
@@ -1052,12 +1052,12 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
 #if defined(USE_D_MIN)
             float dMinFactor = 1.0f;
             if (pidRuntime.dMinPercent[axis] > 0) {
-                float dMinGyroFactor = biquadFilterApply(&pidRuntime.dMinRange[axis], delta);
+                float dMinGyroFactor = pt2FilterApply(&pidRuntime.dMinRange[axis], delta);
                 dMinGyroFactor = fabsf(dMinGyroFactor) * pidRuntime.dMinGyroGain;
                 const float dMinSetpointFactor = (fabsf(pidSetpointDelta)) * pidRuntime.dMinSetpointGain;
                 dMinFactor = MAX(dMinGyroFactor, dMinSetpointFactor);
                 dMinFactor = pidRuntime.dMinPercent[axis] + (1.0f - pidRuntime.dMinPercent[axis]) * dMinFactor;
-                dMinFactor = pt1FilterApply(&pidRuntime.dMinLowpass[axis], dMinFactor);
+                dMinFactor = pt2FilterApply(&pidRuntime.dMinLowpass[axis], dMinFactor);
                 dMinFactor = MIN(dMinFactor, 1.0f);
                 if (axis == FD_ROLL) {
                     DEBUG_SET(DEBUG_D_MIN, 0, lrintf(dMinGyroFactor * 100));
@@ -1069,17 +1069,17 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
             }
 
             // Apply the dMinFactor
-            preTpaData *= dMinFactor;
+            preTpaD *= dMinFactor;
 #endif
-            pidData[axis].D = preTpaData * tpaFactor;
+            pidData[axis].D = preTpaD * tpaFactor;
 
             // Log the value of D pre application of TPA
-            preTpaData *= D_LPF_FILT_SCALE;
+            preTpaD *= D_LPF_FILT_SCALE;
 
             if (axis == FD_ROLL) {
-                DEBUG_SET(DEBUG_D_LPF, 2, lrintf(preTpaData));
+                DEBUG_SET(DEBUG_D_LPF, 2, lrintf(preTpaD));
             } else if (axis == FD_PITCH) {
-                DEBUG_SET(DEBUG_D_LPF, 3, lrintf(preTpaData));
+                DEBUG_SET(DEBUG_D_LPF, 3, lrintf(preTpaD));
             }
         } else {
             pidData[axis].D = 0;
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index f99140cbae..a6600064d2 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -329,8 +329,8 @@ typedef struct pidRuntime_s {
 #endif
 
 #ifdef USE_D_MIN
-    biquadFilter_t dMinRange[XYZ_AXIS_COUNT];
-    pt1Filter_t dMinLowpass[XYZ_AXIS_COUNT];
+    pt2Filter_t dMinRange[XYZ_AXIS_COUNT];
+    pt2Filter_t dMinLowpass[XYZ_AXIS_COUNT];
     float dMinPercent[XYZ_AXIS_COUNT];
     float dMinGyroGain;
     float dMinSetpointGain;
diff --git a/src/main/flight/pid_init.c b/src/main/flight/pid_init.c
index 72243eadf7..8d1db7711e 100644
--- a/src/main/flight/pid_init.c
+++ b/src/main/flight/pid_init.c
@@ -46,10 +46,10 @@
 #include "pid_init.h"
 
 #if defined(USE_D_MIN)
-#define D_MIN_RANGE_HZ 80    // Biquad lowpass input cutoff to peak D around propwash frequencies
-#define D_MIN_LOWPASS_HZ 10  // PT1 lowpass cutoff to smooth the boost effect
-#define D_MIN_GAIN_FACTOR 0.00005f
-#define D_MIN_SETPOINT_GAIN_FACTOR 0.00005f
+#define D_MIN_RANGE_HZ 85    // PT2 lowpass input cutoff to peak D around propwash frequencies
+#define D_MIN_LOWPASS_HZ 35  // PT2 lowpass cutoff to smooth the boost effect
+#define D_MIN_GAIN_FACTOR 0.00008f
+#define D_MIN_SETPOINT_GAIN_FACTOR 0.00008f
 #endif
 
 #define ANTI_GRAVITY_THROTTLE_FILTER_CUTOFF 15  // The anti gravity throttle highpass filter cutoff
@@ -224,8 +224,8 @@ void pidInitFilters(const pidProfile_t *pidProfile)
     // in-flight adjustments and transition from 0 to > 0 in flight the feature
     // won't work because the filter wasn't initialized.
     for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
-        biquadFilterInitLPF(&pidRuntime.dMinRange[axis], D_MIN_RANGE_HZ, targetPidLooptime);
-        pt1FilterInit(&pidRuntime.dMinLowpass[axis], pt1FilterGain(D_MIN_LOWPASS_HZ, pidRuntime.dT));
+        pt2FilterInit(&pidRuntime.dMinRange[axis], pt2FilterGain(D_MIN_RANGE_HZ, pidRuntime.dT));
+        pt2FilterInit(&pidRuntime.dMinLowpass[axis], pt2FilterGain(D_MIN_LOWPASS_HZ, pidRuntime.dT));
      }
 #endif