diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index 9294dcc4..c025011c 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -3167,11 +3167,47 @@
     "gyro_lpf_type_help": {
         "message": "BIQUAD offers better noise attenuation for a price of higher delay. PT1 has lower attenuation but offers lower delay."
     },
+    "gyro_stage2_lowpass_type": {
+        "message": "Gyro Stage 2 LPF type"
+    },
+    "gyro_stage2_lowpass_type_help": {
+        "message": "BIQUAD offers better noise attenuation for a price of higher delay. PT1 has lower attenuation but offers lower delay."
+    },
+    "dterm_lpf_type": {
+        "message": "D-term LPF type"
+    },
+    "dterm_lpf_type_help": {
+        "message": "BIQUAD offers better noise attenuation for a price of higher delay. PT1 has lower attenuation but offers lower delay."
+    },
+    "dterm_lpf2_type": {
+        "message": "D-term Stage 2 LPF type"
+    },
+    "dterm_lpf2_type_help": {
+        "message": "BIQUAD offers better noise attenuation for a price of higher delay. PT1 has lower attenuation but offers lower delay."
+    },
+    "dterm_lpf2_hz": {
+        "message": "D-term Stage 2 LPF cutoff frequency"
+    },
+    "dterm_lpf2_hz_help": {
+        "message": "Lowpass cutoff filter for D-term on ROLL and PITCH axises. 0 mean filter is disabled"
+    },
     "tabFilteringAdvanced": {
         "message": "Other filters"
     },
     "mainFilters": {
-        "message": "Main filters"
+        "message": "Gyro filters"
+    },
+    "rpmFilters": {
+        "message": "Gyro RPM filters"
+    },
+    "dtermFilters": {
+        "message": "D-term filters"
+    },
+    "rpm_gyro_filter_enabled": {
+        "message": "Gyro RPM filter (requires ESC telemetry)"
+    },
+    "rpm_gyro_min_hz": {
+        "message": "Gyro RPM filter min. frequency"
     },
     "acc_lpf_type": {
         "message": "Accelerometer LPF type"
diff --git a/js/data_storage.js b/js/data_storage.js
index c559e6b1..0785f871 100755
--- a/js/data_storage.js
+++ b/js/data_storage.js
@@ -2,8 +2,8 @@
 
 var CONFIGURATOR = {
      // all versions are specified and compared using semantic versioning http://semver.org/
-    'minfirmwareVersionAccepted': '2.3.0',
-    'maxFirmwareVersionAccepted': '2.5.0', // COndition is < (lt) so we accept all in 2.2 branch, not 2.3 actualy
+    'minfirmwareVersionAccepted': '2.4.0',
+    'maxFirmwareVersionAccepted': '2.6.0', // COndition is < (lt) so we accept all in 2.2 branch, not 2.3 actualy
     'connectionValid': false,
     'connectionValidCliOnly': false,
     'cliActive': false,
diff --git a/tabs/pid_tuning.html b/tabs/pid_tuning.html
index a2bafea6..210926b2 100755
--- a/tabs/pid_tuning.html
+++ b/tabs/pid_tuning.html
@@ -276,7 +276,7 @@
             <div class="cf_column">
                 <table class="rate-tpa rate-tpa--filtering">
                     <tbody>
-                        <tr class="requires-v2_3">
+                        <tr>
                             <th>Gyro Dynamic Notch Filter</th>
                             <td>
                                 <div style="padding-left: 1em; line-height: 28px;">
@@ -284,21 +284,21 @@
                             </div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_3">
+                        <tr>
                             <th>Gyro Dynamic Notch Width</th>
                             <td>
                                 <input data-setting="dyn_notch_width_percent" type="number" class="rate-tpa_input" />
                                 <div class="helpicon cf_tip" title="Sets the distance in percent between dynamic gyro notches. Set to 0 to use single dynamic gyro notch."></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_3">
+                        <tr>
                             <th>Gyro Dynamic Notch Min Frequency</th>
                             <td>
                                 <input data-setting="dyn_notch_min_hz" type="number" class="rate-tpa_input" />
                                 <div class="helpicon cf_tip" title="Minimum frequency for dynamic gyro notch filters. Value should depends on propeller size. 150Hz work fine with 5&quot; and smaller. For 7&quot; and above lower even below 100Hz."></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_2">
+                        <tr>
                             <th data-i18n="gyro_lpf_type"></th>
                             <td>
                                 <select data-setting="gyro_lpf_type" />
@@ -313,6 +313,13 @@
                                 <div class="helpicon cf_tip" data-i18n_title="gyroLpfCutoffFrequencyHelp"></div>
                             </td>
                         </tr>
+                        <tr>
+                            <th data-i18n="gyro_stage2_lowpass_type"></th>
+                            <td>
+                                <select data-setting="gyro_stage2_lowpass_type" />
+                                <div class="helpicon cf_tip" data-i18n_title="gyro_stage2_lowpass_type_help"></div>
+                            </td>
+                        </tr>
                         <tr>
                             <th data-i18n="gyroStage2LpfCutoffFrequency"></th>
                             <td>
@@ -322,6 +329,23 @@
                                 <div class="helpicon cf_tip" data-i18n_title="gyroStage2LpfCutoffFrequencyHelp"></div>
                             </td>
                         </tr>
+                        
+                    </tbody>
+                </table>
+            </div>
+
+            <div class="clear-both"></div>
+            <div class="tab_subtitle" data-i18n="dtermFilters" style="margin-top: 1em;"></div>
+            <div class="cf_column">
+                <table class="rate-tpa rate-tpa--filtering">
+                    <tbody>
+                        <tr>
+                            <th data-i18n="dterm_lpf_type"></th>
+                            <td>
+                                <select data-setting="dterm_lpf_type" />
+                                <div class="helpicon cf_tip" data-i18n_title="dterm_lpf_type_help"></div>
+                            </td>
+                        </tr>
                         <tr>
                             <th data-i18n="dtermLpfCutoffFrequency"></th>
                             <td>
@@ -330,6 +354,41 @@
                                 <div class="helpicon cf_tip" data-i18n_title="dtermLpfCutoffFrequencyHelp"></div>
                             </td>
                         </tr>
+                        <tr>
+                            <th data-i18n="dterm_lpf2_type"></th>
+                            <td>
+                                <select data-setting="dterm_lpf2_type" />
+                                <div class="helpicon cf_tip" data-i18n_title="dterm_lpf2_type_help"></div>
+                            </td>
+                        </tr>
+                        <tr>
+                            <th data-i18n="dterm_lpf2_hz"></th>
+                            <td>
+                                <input data-setting="dterm_lpf2_hz" type="number" class="rate-tpa_input" />
+                                <div class="helpicon cf_tip" data-i18n_title="dterm_lpf2_hz_help"></div>
+                            </td>
+                        </tr>
+                    </tbody>
+                </table>
+            </div>
+
+            <div class="clear-both requires-v2_4"></div>
+            <div class="tab_subtitle requires-v2_4" data-i18n="rpmFilters" style="margin-top: 1em;"></div>
+            <div class="cf_column requires-v2_4">
+                <table class="rate-tpa rate-tpa--filtering">
+                    <tbody>
+                        <tr>
+                            <th data-i18n="rpm_gyro_filter_enabled"></th>
+                            <td>
+                                <select data-setting="rpm_gyro_filter_enabled" />
+                            </td>
+                        </tr>
+                        <tr>
+                            <th data-i18n="rpm_gyro_min_hz"></th>
+                            <td>
+                                <input data-setting="rpm_gyro_min_hz" type="number" class="rate-tpa_input" />
+                            </td>
+                        </tr>
                     </tbody>
                 </table>
             </div>
@@ -347,7 +406,7 @@
                                 <div class="helpicon cf_tip" data-i18n_title="accLpfCutoffFrequencyHelp"></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_2">
+                        <tr>
                             <th data-i18n="acc_lpf_type"></th>
                             <td>
                                 <select data-setting="acc_lpf_type" />
@@ -366,78 +425,6 @@
                     </tbody>
                 </table>
             </div>
-            <div class="clear-both"></div>
-            <div class="tab_subtitle" style="margin-top: 1em;">Static Notch Filters (deprecated)</div>
-            <div class="cf_column">
-                <table class="rate-tpa rate-tpa--filtering">
-                    <tbody>
-                        <tr>
-                            <th data-i18n="accNotchHz"></th>
-                            <td>
-                                <input type="number" data-simple-bind="FILTER_CONFIG.accNotchHz" id="accNotchHz"
-                                    class="rate-tpa_input" step="1" min="0" max="255" /> Hz
-                                <div class="helpicon cf_tip" data-i18n_title="accNotchHzHelp"></div>
-                            </td>
-                        </tr>
-                        <tr>
-                            <th data-i18n="accNotchCutoff"></th>
-                            <td>
-                                <input type="number" data-simple-bind="FILTER_CONFIG.accNotchCutoff"
-                                    id="gyroNotchCutoff2" class="rate-tpa_input" step="1" min="0" max="500" /> Hz
-                                <div class="helpicon cf_tip" data-i18n_title="accNotchCutoffHelp"></div>
-                            </td>
-                        </tr>
-                        <tr>
-                            <th data-i18n="gyroNotchHz1"></th>
-                            <td>
-                                <input type="number" data-simple-bind="FILTER_CONFIG.gyroNotchHz1" id="gyroNotchHz1"
-                                    class="rate-tpa_input" step="1" min="0" max="500" /> Hz
-                                <div class="helpicon cf_tip" data-i18n_title="gyroNotchHz1Help"></div>
-                            </td>
-                        </tr>
-                        <tr>
-                            <th data-i18n="gyroNotchCutoff1"></th>
-                            <td>
-                                <input type="number" data-simple-bind="FILTER_CONFIG.gyroNotchCutoff1"
-                                    id="gyroNotchCutoff1" class="rate-tpa_input" step="1" min="0" max="500" /> Hz
-                                <div class="helpicon cf_tip" data-i18n_title="gyroNotchCutoff1Help"></div>
-                            </td>
-                        </tr>
-                        <tr>
-                            <th data-i18n="gyroNotchHz2"></th>
-                            <td>
-                                <input type="number" data-simple-bind="FILTER_CONFIG.gyroNotchHz2" id="gyroNotchHz2"
-                                    class="rate-tpa_input" step="1" min="0" max="500" /> Hz
-                                <div class="helpicon cf_tip" data-i18n_title="gyroNotchHz2Help"></div>
-                            </td>
-                        </tr>
-                        <tr>
-                            <th data-i18n="gyroNotchCutoff2"></th>
-                            <td>
-                                <input type="number" data-simple-bind="FILTER_CONFIG.gyroNotchCutoff2"
-                                    id="gyroNotchCutoff2" class="rate-tpa_input" step="1" min="0" max="500" /> Hz
-                                <div class="helpicon cf_tip" data-i18n_title="gyroNotchCutoff2Help"></div>
-                            </td>
-                        </tr>
-                        <tr>
-                            <th data-i18n="dtermNotchHz"></th>
-                            <td>
-                                <input type="number" data-simple-bind="FILTER_CONFIG.dtermNotchHz" id="dtermNotchHz"
-                                    class="rate-tpa_input" step="1" min="0" max="500" /> Hz
-                                <div class="helpicon cf_tip" data-i18n_title="dtermNotchHzHelp"></div>
-                            </td>
-                        </tr>
-                        <tr>
-                            <th data-i18n="dtermNotchCutoff"></th>
-                            <td>
-                                <input type="number" data-simple-bind="FILTER_CONFIG.dtermNotchCutoff"
-                                    id="dtermNotchCutoff" class="rate-tpa_input" step="1" min="0" max="500" /> Hz
-                                <div class="helpicon cf_tip" data-i18n_title="dtermNotchCutoffHelp"></div>
-                            </td>
-                        </tr>
-                    </tbody>
-                </table>
-            </div>
         </div>
 
         <div id="subtab-mechanics" class="subtab__content">
@@ -446,54 +433,54 @@
             <div class="cf_column">
                 <table class="rate-tpa rate-tpa--filtering">
                     <tbody>
-                        <tr class="requires-v2_2">
+                        <tr>
                             <th data-i18n="mc_airmode_type"></th>
                             <td>
                                 <select data-setting="mc_airmode_type" />
                                 <div class="helpicon cf_tip" data-i18n_title="mc_airmode_type_help"></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_2">
+                        <tr>
                             <th data-i18n="mc_airmode_threshold"></th>
                             <td>
                                 <select data-setting="mc_airmode_threshold" />
                                 <div class="helpicon cf_tip" data-i18n_title="mc_airmode_threshold_help"></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_2">
+                        <tr>
                             <th data-i18n="itermRelax"></th>
                             <td>
                                 <select data-setting="mc_iterm_relax" />
                                 <div class="helpicon cf_tip" data-i18n_title="itermRelaxHelp"></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_2">
+                        <tr>
                             <th data-i18n="itermRelaxCutoff"></th>
                             <td>
                                 <input data-setting="mc_iterm_relax_cutoff" class="rate-tpa_input" />
                                 <div class="helpicon cf_tip" data-i18n_title="itermRelaxCutoffHelp"></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_2">
+                        <tr>
                             <th data-i18n="itermRelaxType"></th>
                             <td>
                                 <select data-setting="mc_iterm_relax_type" />
                                 <div class="helpicon cf_tip" data-i18n_title="itermRelaxTypeHelp"></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_2_2">
+                        <tr>
                             <th data-i18n="antigravityGain"></th>
                             <td>
                                 <input class="rate-tpa_input" data-setting="antigravity_gain" />
                             </td>
                         </tr>
-                        <tr class="requires-v2_2_2">
+                        <tr>
                             <th data-i18n="antigravityAccelerator"></th>
                             <td>
                                 <input class="rate-tpa_input" data-setting="antigravity_accelerator" />
                             </td>
                         </tr>
-                        <tr class="requires-v2_2_2">
+                        <tr>
                             <th data-i18n="antigravityCutoff"></th>
                             <td>
                                 <input class="rate-tpa_input" data-setting="antigravity_cutoff_lpf_hz" />
@@ -515,21 +502,21 @@
                                 <div class="helpicon cf_tip" data-i18n_title="dtermSetpointWeightHelp"></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_2">
+                        <tr>
                             <th data-i18n="d_boost_factor"></th>
                             <td>
                                 <input data-setting="d_boost_factor" class="rate-tpa_input" />
                                 <div class="helpicon cf_tip" data-i18n_title="d_boost_factor_help"></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_2">
+                        <tr>
                             <th data-i18n="d_boost_max_at_acceleration"></th>
                             <td>
                                 <input data-setting="d_boost_max_at_acceleration" class="rate-tpa_input" />
                                 <div class="helpicon cf_tip" data-i18n_title="d_boost_max_at_acceleration_help"></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_2">
+                        <tr>
                             <th data-i18n="d_boost_gyro_delta_lpf_hz"></th>
                             <td>
                                 <input data-setting="d_boost_gyro_delta_lpf_hz" class="rate-tpa_input" />
diff --git a/tabs/pid_tuning.js b/tabs/pid_tuning.js
index e193dcc6..fbb2f9bb 100755
--- a/tabs/pid_tuning.js
+++ b/tabs/pid_tuning.js
@@ -108,6 +108,12 @@ TABS.pid_tuning.initialize = function (callback) {
         // translate to user-selected language
         localize();
 
+        if (semver.gte(CONFIG.flightControllerVersion, "2.4.0")) {
+            $('.requires-v2_4').show();
+        } else {
+            $('.requires-v2_4').hide();
+        }
+
         helper.tabs.init($('.tab-pid_tuning'));
         helper.features.updateUI($('.tab-pid_tuning'), BF_CONFIG.features);
 
@@ -162,28 +168,6 @@ TABS.pid_tuning.initialize = function (callback) {
             FILTER_CONFIG.yawLpfHz = parseInt($yawLpfHz.val(), 10);
         });
 
-        if (semver.gte(CONFIG.flightControllerVersion, "2.2.0")) {
-            $('.requires-v2_2').show();
-        } else {
-            $('.requires-v2_2').hide();
-        }
-
-        if (semver.gte(CONFIG.flightControllerVersion, "2.2.2")) {
-            $('.requires-v2_2_2').show();
-        } else {
-            $('.requires-v2_2_2').hide();
-        }
-
-        if (semver.gte(CONFIG.flightControllerVersion, "2.3.0")) {
-            $('.requires-v2_3').show();
-        } else {
-            $('.requires-v2_3').hide();
-        }
-
-        if (semver.lt(CONFIG.flightControllerVersion, "2.2.0")) {
-            $('[name=ff]').prop('disabled', 'disabled');
-        }
-
         if (!FC.isRpyFfComponentUsed()) {
             $('.rpy_ff').prop('disabled', 'disabled');
         }