diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index 5fd72965d8..e556482914 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -350,3 +350,16 @@ void assignFilterApplyFn(uint8_t filterType, float cutoffFrequency, filterApplyF
         }
     }
 }
+
+double ellipticFilterApply(const uint8_t filterOrder, double input, const double *a_coeffs, const double *b_coeffs, double *filterState) {
+    // Calculate the output
+    double output = b_coeffs[0] * input + filterState[0];
+    
+    // Update the state variables
+    for (int i = 0; i < filterOrder - 1; i++) {
+        filterState[i] = b_coeffs[i + 1] * input - a_coeffs[i + 1] * output + filterState[i + 1];
+    }
+    filterState[filterOrder - 1] = b_coeffs[filterOrder] * input - a_coeffs[filterOrder] * output;
+    
+    return output;
+}
diff --git a/src/main/common/filter.h b/src/main/common/filter.h
index 9be86b495c..032d5c27cb 100644
--- a/src/main/common/filter.h
+++ b/src/main/common/filter.h
@@ -139,3 +139,4 @@ float alphaBetaGammaFilterApply(alphaBetaGammaFilter_t *filter, float input);
 
 void initFilter(uint8_t filterType, filter_t *filter, float cutoffFrequency, uint32_t refreshRate);
 void assignFilterApplyFn(uint8_t filterType, float cutoffFrequency, filterApplyFnPtr *applyFn);
+double ellipticFilterApply(const uint8_t filterOrder, double input, const double *a_coeffs, const double *b_coeffs, double *filterState);
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 9fa0a7c0e4..9d08c12712 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -91,6 +91,19 @@ STATIC_FASTRAM filter_t gyroLpf2State[XYZ_AXIS_COUNT];
 STATIC_FASTRAM filterApplyFnPtr gyroLuluApplyFn;
 STATIC_FASTRAM filter_t gyroLuluState[XYZ_AXIS_COUNT];
 
+//Elliptic filter coefficients for antialiasing
+#define ELLIPTIC_ANTIALIASING_FILTER_ORDER 6
+
+STATIC_FASTRAM double ellipticAntialiasingCoeffA[] = {
+    1.0, -5.13215, 10.9852, -12.2934, 7.51828, -2.49295, 0.3785
+};
+
+STATIC_FASTRAM double ellipticAntialiasingCoeffB[] = {
+    0.005897, -0.023357, 0.038222, -0.028058, 0.038222, -0.023357, 0.005897
+};
+
+STATIC_FASTRAM double ellipticAntialiasingFilterState[ELLIPTIC_ANTIALIASING_FILTER_ORDER] = {0};
+
 #ifdef USE_DYNAMIC_FILTERS
 
 EXTENDED_FASTRAM gyroAnalyseState_t gyroAnalyseState;
@@ -562,7 +575,10 @@ void FAST_CODE NOINLINE gyroUpdate(void)
         /*
          * First gyro LPF is the only filter applied with the full gyro sampling speed
          */
-        gyroADCf = gyroLpfApplyFn((filter_t *) &gyroLpfState[axis], gyroADCf);
+        // gyroADCf = gyroLpfApplyFn((filter_t *) &gyroLpfState[axis], gyroADCf);
+
+        // Apply elliptic antialiasing filter
+        gyroADCf = ellipticFilterApply(ELLIPTIC_ANTIALIASING_FILTER_ORDER, gyroADCf, ellipticAntialiasingCoeffA, ellipticAntialiasingCoeffB, ellipticAntialiasingFilterState);
 
         gyro.gyroADCf[axis] = gyroADCf;
     }