diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index cea484b2..71beb21e 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -1930,5 +1930,41 @@
     },
     "presetApplyHead": {
         "message": "Applies following settings:"
+    },
+    "gyroNotchHz1": {
+        "message": "First gyro notch filter freq."
+    },
+    "gyroNotchCutoff1": {
+        "message": "First gyro notch filter cutoff freq."
+    },
+    "gyroNotchHz2": {
+        "message": "Second gyro notch filter freq."
+    },
+    "gyroNotchCutoff2": {
+        "message": "Second gyro notch filter cutoff freq."
+    },
+    "gyroNotchHz1Help": {
+        "message": "Should be tuned to propeller harmonic frequency. Usually equals <i>[motor_frequency] * [propeller_blades_number]</i><br><br>Has to be above cutoff frequency<br><br><i>0</i> disables the filter"
+    },
+    "gyroNotchHz2Help": {
+        "message": "Should be tuned to motor frequency.<br><br>Has to be above cutoff frequency and below first gyro notch filter frequency.<br><br><i>0</i> disables the filter"
+    },
+    "gyroNotchCutoff1Help": {
+        "message": "Defines band of notch filter. <br><br>Has to be kept below notch filter frequency."
+    },
+    "gyroNotchCutoff2Help": {
+        "message": "Defines band of notch filter. <br><br>Has to be kept below notch filter frequency."
+    },
+    "dtermNotchHz": {
+        "message": "Dterm notch filter freq."
+    },
+    "dtermNotchCutoff": {
+        "message": "Dterm notch filter cutoff freq."
+    },
+    "dtermNotchHzHelp": {
+        "message": "Should be placed between first and second gyro notch filter frequency<br><br>Has to be above cutoff frequency<br><br><i>0</i> disables the filter"
+    },
+    "dtermNotchCutoffHelp": {
+        "message": "Defines band of filter. <br><br>Has to be kept below notch filter frequency."
     }
 }
\ No newline at end of file
diff --git a/js/fc.js b/js/fc.js
index 15a93457..e34e75be 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -252,7 +252,8 @@ var FC = {
             yawPLimit: null,
             axisAccelerationLimitRollPitch: null,
             axisAccelerationLimitYaw: null,
-            dtermSetpointWeight: null
+            dtermSetpointWeight: null,
+            pidSumLimit: null
         };
 
         INAV_PID_CONFIG = {
diff --git a/js/gui.js b/js/gui.js
index c835da9e..f6b0a6a9 100644
--- a/js/gui.js
+++ b/js/gui.js
@@ -221,5 +221,23 @@ GUI_control.prototype.fillSelect = function ($element, values, currentValue, uni
     }
 };
 
+GUI_control.prototype.simpleBind = function () {
+    $('input[data-simple-bind]').not('[data-simple-binded="true"]').each(function () {
+        var $this = $(this),
+            toBind = $this.data('simple-bind').split(".");
+
+        if (toBind.length !== 2 || window[toBind[0]][toBind[1]] === undefined) {
+            return;
+        }
+
+        $this.change(function () {
+            window[toBind[0]][toBind[1]] = $(this).val();
+        });
+
+        $this.val(window[toBind[0]][toBind[1]]);
+        $this.attr('data-simple-binded', true);
+    });
+};
+
 // initialize object into GUI variable
 var GUI = new GUI_control();
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index e3934daa..3265615d 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -846,6 +846,7 @@ var mspHelper = (function (gui) {
 
                 if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
                     PID_ADVANCED.dtermSetpointWeight = data.getUint8(9);
+                    PID_ADVANCED.pidSumLimit = data.getUint16(10, true);
                 }
 
                 PID_ADVANCED.axisAccelerationLimitRollPitch = data.getUint16(13, true);
@@ -1262,12 +1263,14 @@ var mspHelper = (function (gui) {
 
                 if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
                     buffer.push(PID_ADVANCED.dtermSetpointWeight);
+                    buffer.push(lowByte(PID_ADVANCED.pidSumLimit));
+                    buffer.push(highByte(PID_ADVANCED.pidSumLimit));
                 } else {
                     buffer.push(0);
+                    buffer.push(0); // reserved
+                    buffer.push(0); // reserved
                 }
 
-                buffer.push(0); // reserved
-                buffer.push(0); // reserved
                 buffer.push(0); //BF: currentProfile->pidProfile.itermThrottleGain
 
                 buffer.push(lowByte(PID_ADVANCED.axisAccelerationLimitRollPitch));
diff --git a/tabs/pid_tuning.html b/tabs/pid_tuning.html
index 63a067c1..a32f9287 100755
--- a/tabs/pid_tuning.html
+++ b/tabs/pid_tuning.html
@@ -219,6 +219,35 @@
                         </td>
                     </tr>
 
+                    <tr class="requires-v1_6">
+                        <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 class="requires-v1_6">
+                        <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 class="requires-v1_6">
+                        <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 class="requires-v1_6">
+                        <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>
+
                 </tbody>
             </table>
         </div>
@@ -239,6 +268,20 @@
                             <div class="helpicon cf_tip" data-i18n_title="yawLpfCutoffFrequencyHelp"></div>
                         </td>
                     </tr>
+                    <tr class="requires-v1_6">
+                        <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 class="requires-v1_6">
+                        <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>
diff --git a/tabs/pid_tuning.js b/tabs/pid_tuning.js
index e7827cbb..a192047e 100755
--- a/tabs/pid_tuning.js
+++ b/tabs/pid_tuning.js
@@ -231,6 +231,15 @@ TABS.pid_tuning.initialize = function (callback) {
         } else {
             $('.requires-v1_4').hide();
         }
+
+        if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
+            $('.requires-v1_6').show();
+        } else {
+            $('.requires-v1_6').hide();
+        }
+
+        GUI.simpleBind();
+
         // UI Hooks
 
         $('a.refresh').click(function () {