diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 3d95fadc24..ecd951af7b 100644
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -195,6 +195,13 @@ static void validateAndFixConfig(void)
         currentPidProfile->dterm_notch_hz = 0;
     }
 
+#ifdef USE_DYN_LPF
+    //PRevent invalid dynamic lowpass
+    if (currentPidProfile->dyn_lpf_dterm_min_hz > currentPidProfile->dyn_lpf_dterm_max_hz) {
+        currentPidProfile->dyn_lpf_dterm_min_hz = 0;
+    }
+#endif
+
     if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
         featureDisable(FEATURE_3D);
 
@@ -432,6 +439,12 @@ void validateAndFixGyroConfig(void)
     if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
         gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
     }
+#ifdef USE_DYN_LPF
+    //Prevent invalid dynamic lowpass filter
+    if (gyroConfig()->dyn_lpf_gyro_min_hz > gyroConfig()->dyn_lpf_gyro_max_hz) {
+        gyroConfigMutable()->dyn_lpf_gyro_min_hz = 0;
+    }
+#endif
 
     if (gyroConfig()->gyro_hardware_lpf == GYRO_HARDWARE_LPF_1KHZ_SAMPLE) {
         pidConfigMutable()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index a58894855d..75f0e64d51 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -315,14 +315,18 @@ void pidInitFilters(const pidProfile_t *pidProfile)
     }
 
     //1st Dterm Lowpass Filter
-    if (pidProfile->dterm_lowpass_hz == 0 || pidProfile->dterm_lowpass_hz > pidFrequencyNyquist) {
-        dtermLowpassApplyFn = nullFilterApply;
-    } else {
+    uint16_t dterm_lowpass_hz = pidProfile->dterm_lowpass_hz;
+
+#ifdef USE_DYN_LPF
+    dterm_lowpass_hz = MAX(pidProfile->dterm_lowpass_hz, pidProfile->dyn_lpf_dterm_min_hz);
+#endif
+
+    if (dterm_lowpass_hz > 0 && dterm_lowpass_hz < pidFrequencyNyquist) {
         switch (pidProfile->dterm_filter_type) {
         case FILTER_PT1:
             dtermLowpassApplyFn = (filterApplyFnPtr)pt1FilterApply;
             for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
-                pt1FilterInit(&dtermLowpass[axis].pt1Filter, pt1FilterGain(pidProfile->dterm_lowpass_hz, dT));
+                pt1FilterInit(&dtermLowpass[axis].pt1Filter, pt1FilterGain(dterm_lowpass_hz, dT));
             }
             break;
         case FILTER_BIQUAD:
@@ -332,13 +336,15 @@ void pidInitFilters(const pidProfile_t *pidProfile)
             dtermLowpassApplyFn = (filterApplyFnPtr)biquadFilterApply;
 #endif
             for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
-                biquadFilterInitLPF(&dtermLowpass[axis].biquadFilter, pidProfile->dterm_lowpass_hz, targetPidLooptime);
+                biquadFilterInitLPF(&dtermLowpass[axis].biquadFilter, dterm_lowpass_hz, targetPidLooptime);
             }
             break;
         default:
             dtermLowpassApplyFn = nullFilterApply;
             break;
         }
+    } else {
+        dtermLowpassApplyFn = nullFilterApply;
     }
 
     //2nd Dterm Lowpass Filter
@@ -609,7 +615,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
 #endif
 
 #ifdef USE_DYN_LPF
-    if (pidProfile->dyn_lpf_dterm_min_hz > 0 && pidProfile->dyn_lpf_dterm_max_hz > pidProfile->dyn_lpf_dterm_min_hz) {
+    if (pidProfile->dyn_lpf_dterm_min_hz > 0) {
         switch (pidProfile->dterm_filter_type) {
         case FILTER_PT1:
             dynLpfFilter = DYN_LPF_PT1;
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index cd6cf2fa5d..fd76fa976c 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -578,7 +578,7 @@ static FAST_RAM_ZERO_INIT uint16_t dynLpfMax;
 
 static void dynLpfFilterInit()
 {
-    if (gyroConfig()->dyn_lpf_gyro_min_hz > 0 && gyroConfig()->dyn_lpf_gyro_max_hz > gyroConfig()->dyn_lpf_gyro_min_hz) {
+    if (gyroConfig()->dyn_lpf_gyro_min_hz > 0) {
         switch (gyroConfig()->gyro_lowpass_type) {
         case FILTER_PT1:
             dynLpfFilter = DYN_LPF_PT1;
@@ -736,11 +736,17 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor)
     gyroInitSlewLimiter(gyroSensor);
 #endif
 
+    uint16_t gyro_lowpass_hz = gyroConfig()->gyro_lowpass_hz;
+
+#ifdef USE_DYN_LPF
+    gyro_lowpass_hz = MAX(gyroConfig()->gyro_lowpass_hz, gyroConfig()->dyn_lpf_gyro_min_hz);
+#endif
+
     gyroInitLowpassFilterLpf(
       gyroSensor,
       FILTER_LOWPASS,
       gyroConfig()->gyro_lowpass_type,
-      gyroConfig()->gyro_lowpass_hz
+      gyro_lowpass_hz
     );
 
     gyroInitLowpassFilterLpf(
@@ -1244,8 +1250,8 @@ void dynLpfGyroUpdate(float throttle)
     if (dynLpfFilter != DYN_LPF_NONE) {
         const unsigned int cutoffFreq = fmax(dynThrottle(throttle) * dynLpfMax, dynLpfMin);
 
-        DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq);
         if (dynLpfFilter == DYN_LPF_PT1) {
+            DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq);
             const float gyroDt = gyro.targetLooptime * 1e-6f;
             for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 #ifdef USE_MULTI_GYRO
@@ -1260,6 +1266,7 @@ void dynLpfGyroUpdate(float throttle)
 #endif
             }
         } else if (dynLpfFilter == DYN_LPF_BIQUAD) {
+            DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq);
             for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 #ifdef USE_MULTI_GYRO
                 if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_1 || gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH) {