diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index f53523b24e..893e057645 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1193,6 +1193,24 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU8(dst, 0);
         break;
 
+    case MSP_FILTER_CONFIG :
+        sbufWriteU8(dst, gyroConfig()->gyro_main_lpf_hz);
+        sbufWriteU16(dst, pidProfile()->dterm_lpf_hz);
+        sbufWriteU16(dst, pidProfile()->yaw_lpf_hz);
+        sbufWriteU16(dst, 0); //Was gyroConfig()->gyro_notch_hz
+        sbufWriteU16(dst, 1); //Was  gyroConfig()->gyro_notch_cutoff
+        sbufWriteU16(dst, 0); //BF: pidProfile()->dterm_notch_hz
+        sbufWriteU16(dst, 1); //pidProfile()->dterm_notch_cutoff
+
+        sbufWriteU16(dst, 0); //BF: masterConfig.gyro_soft_notch_hz_2
+        sbufWriteU16(dst, 1); //BF: masterConfig.gyro_soft_notch_cutoff_2
+
+        sbufWriteU16(dst, accelerometerConfig()->acc_notch_hz);
+        sbufWriteU16(dst, accelerometerConfig()->acc_notch_cutoff);
+
+        sbufWriteU16(dst, 0);    //Was gyroConfig()->gyro_stage2_lowpass_hz
+        break;
+
     case MSP_INAV_PID:
         sbufWriteU8(dst, 0); //Legacy, no longer in use async processing value
         sbufWriteU16(dst, 0); //Legacy, no longer in use async processing value
@@ -2138,6 +2156,47 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         break;
 
+    case MSP_SET_FILTER_CONFIG :
+        if (dataSize >= 5) {
+            gyroConfigMutable()->gyro_main_lpf_hz = sbufReadU8(src);
+            pidProfileMutable()->dterm_lpf_hz = constrain(sbufReadU16(src), 0, 500);
+            pidProfileMutable()->yaw_lpf_hz = constrain(sbufReadU16(src), 0, 255);
+            if (dataSize >= 9) {
+                sbufReadU16(src); //Was gyroConfigMutable()->gyro_notch_hz
+                sbufReadU16(src); //Was gyroConfigMutable()->gyro_notch_cutoff
+            } else {
+                return MSP_RESULT_ERROR;
+            }
+            if (dataSize >= 13) {
+                sbufReadU16(src);
+                sbufReadU16(src);
+                pidInitFilters();
+            } else {
+                return MSP_RESULT_ERROR;
+            }
+            if (dataSize >= 17) {
+                sbufReadU16(src); // Was gyroConfigMutable()->gyro_soft_notch_hz_2
+                sbufReadU16(src); // Was gyroConfigMutable()->gyro_soft_notch_cutoff_2
+            } else {
+                return MSP_RESULT_ERROR;
+            }
+
+            if (dataSize >= 21) {
+                accelerometerConfigMutable()->acc_notch_hz = constrain(sbufReadU16(src), 0, 255);
+                accelerometerConfigMutable()->acc_notch_cutoff = constrain(sbufReadU16(src), 1, 255);
+            } else {
+                return MSP_RESULT_ERROR;
+            }
+
+            if (dataSize >= 22) {
+                sbufReadU16(src); //Was gyro_stage2_lowpass_hz
+            } else {
+                return MSP_RESULT_ERROR;
+            }
+        } else
+            return MSP_RESULT_ERROR;
+        break;
+
     case MSP_SET_INAV_PID:
         if (dataSize == 15) {
             sbufReadU8(src);  //Legacy, no longer in use async processing value
diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h
index f8eb7ef01b..a983d0bc46 100644
--- a/src/main/msp/msp_protocol.h
+++ b/src/main/msp/msp_protocol.h
@@ -196,6 +196,9 @@
 #define MSP_ADVANCED_CONFIG             90
 #define MSP_SET_ADVANCED_CONFIG         91
 
+#define MSP_FILTER_CONFIG               92
+#define MSP_SET_FILTER_CONFIG           93
+
 #define MSP_SENSOR_CONFIG               96
 #define MSP_SET_SENSOR_CONFIG           97