diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index 9294dcc4..56f83905 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -3167,6 +3167,30 @@
     "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"
     },
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 5cde626f..d21bfb9c 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 +329,13 @@
                                 <div class="helpicon cf_tip" data-i18n_title="gyroStage2LpfCutoffFrequencyHelp"></div>
                             </td>
                         </tr>
+                        <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 +344,20 @@
                                 <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>
@@ -347,7 +375,7 @@
                                 <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" />
@@ -374,54 +402,54 @@
             <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" />
@@ -443,21 +471,21 @@
                                 <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..60744ead 100755
--- a/tabs/pid_tuning.js
+++ b/tabs/pid_tuning.js
@@ -162,28 +162,6 @@ 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');
         }