diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 33df10d431..defdf00a60 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -747,6 +747,11 @@ void applyMotorStop(void)
 
 FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
 {
+#ifdef USE_DYN_LPF
+#define DYN_LPF_THROTTLE_STEPS 100
+    static int dynLpfPreviousQuantizedThrottle = -1;  // to allow an initial zero throttle to set the filter cutoff
+#endif
+
     if (isFlipOverAfterCrashMode()) {
         applyFlipOverAfterCrashModeToMotors();
         return;
@@ -816,8 +821,14 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
 
     pidUpdateAntiGravityThrottleFilter(throttle);
 #ifdef USE_DYN_LPF
-    dynLpfGyroUpdate(throttle);
-    dynLpfDTermUpdate(throttle);
+    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;
+    }
 #endif
 
 #if defined(USE_THROTTLE_BOOST)