diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index dfea699d1e..3f0678f115 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1294,15 +1294,19 @@ static bool blackboxWriteSysinfo(void)
                                                                             currentPidProfile->pid[PID_LEVEL].I,
                                                                             currentPidProfile->pid[PID_LEVEL].D);
         BLACKBOX_PRINT_HEADER_LINE("magPID", "%d",                          currentPidProfile->pid[PID_MAG].P);
+#ifdef USE_D_MIN
         BLACKBOX_PRINT_HEADER_LINE("d_min", "%d,%d,%d",                     currentPidProfile->d_min[ROLL],
                                                                             currentPidProfile->d_min[PITCH],
                                                                             currentPidProfile->d_min[YAW]);
         BLACKBOX_PRINT_HEADER_LINE("d_min_gain", "%d",                      currentPidProfile->d_min_gain);
         BLACKBOX_PRINT_HEADER_LINE("d_min_advance", "%d",                   currentPidProfile->d_min_advance);
+#endif
         BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type", "%d",               currentPidProfile->dterm_filter_type);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass_hz", "%d",                currentPidProfile->dterm_lowpass_hz);
+#ifdef USE_DYN_LPF
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass_dyn_hz", "%d,%d",         currentPidProfile->dyn_lpf_dterm_min_hz,
                                                                             currentPidProfile->dyn_lpf_dterm_max_hz);
+#endif
         BLACKBOX_PRINT_HEADER_LINE("dterm_filter2_type", "%d",              currentPidProfile->dterm_filter2_type);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz", "%d",               currentPidProfile->dterm_lowpass2_hz);
         BLACKBOX_PRINT_HEADER_LINE("yaw_lowpass_hz", "%d",                  currentPidProfile->yaw_lowpass_hz);
@@ -1316,11 +1320,12 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("anti_gravity_mode", "%d",               currentPidProfile->antiGravityMode);
         BLACKBOX_PRINT_HEADER_LINE("anti_gravity_threshold", "%d",          currentPidProfile->itermThrottleThreshold);
         BLACKBOX_PRINT_HEADER_LINE("anti_gravity_gain", "%d",               currentPidProfile->itermAcceleratorGain);
-
+#ifdef USE_ABSOLUTE_CONTROL
         BLACKBOX_PRINT_HEADER_LINE("abs_control_gain", "%d",                currentPidProfile->abs_control_gain);
-
+#endif
+#ifdef USE_INTEGRATED_YAW_CONTROL
         BLACKBOX_PRINT_HEADER_LINE("use_integrated_yaw", "%d",              currentPidProfile->use_integrated_yaw);
-
+#endif
         BLACKBOX_PRINT_HEADER_LINE("feedforward_transition", "%d",          currentPidProfile->feedForwardTransition);
         BLACKBOX_PRINT_HEADER_LINE("feedforward_weight", "%d,%d,%d",        currentPidProfile->pid[PID_ROLL].F,
                                                                             currentPidProfile->pid[PID_PITCH].F,
@@ -1338,8 +1343,10 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("gyro_hardware_lpf", "%d",               gyroConfig()->gyro_hardware_lpf);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_type", "%d",               gyroConfig()->gyro_lowpass_type);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz", "%d",                 gyroConfig()->gyro_lowpass_hz);
+#ifdef USE_DYN_LPF
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_dyn_hz", "%d,%d",          gyroConfig()->dyn_lpf_gyro_min_hz,
                                                                             gyroConfig()->dyn_lpf_gyro_max_hz);
+#endif
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_type", "%d",              gyroConfig()->gyro_lowpass2_type);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz", "%d",                gyroConfig()->gyro_lowpass2_hz);
         BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d",                gyroConfig()->gyro_soft_notch_hz_1,