diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 2caa6039ca..66040caa45 100755
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -1703,7 +1703,6 @@ float navPidApply2(pidController_t *pid, const float setpoint, const float measu
     return navPidApply3(pid, setpoint, measurement, dt, outMin, outMax, pidFlags, 1.0f);
 }
 
-
 void navPidReset(pidController_t *pid)
 {
     pid->reset = true;
@@ -1713,8 +1712,7 @@ void navPidReset(pidController_t *pid)
     pid->integrator = 0.0f;
     pid->last_input = 0.0f;
     pid->feedForward = 0.0f;
-    pid->dterm_filter_state.state = 0.0f;
-    pid->dterm_filter_state.RC = 0.0f;
+    pt1FilterReset(&pid->dterm_filter_state, 0.0f);
     pid->output_constrained = 0.0f;
 }
 
diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c
index f1b5b16911..9b380723ea 100755
--- a/src/main/navigation/navigation_multicopter.c
+++ b/src/main/navigation/navigation_multicopter.c
@@ -263,7 +263,6 @@ bool adjustMulticopterHeadingFromRCInput(void)
 /*-----------------------------------------------------------
  * XY-position controller for multicopter aircraft
  *-----------------------------------------------------------*/
-static pt1Filter_t mcPosControllerAccFilterStateX, mcPosControllerAccFilterStateY;
 static float lastAccelTargetX = 0.0f, lastAccelTargetY = 0.0f;
 
 void resetMulticopterBrakingMode(void)
@@ -363,8 +362,6 @@ void resetMulticopterPositionController(void)
     for (int axis = 0; axis < 2; axis++) {
         navPidReset(&posControl.pids.vel[axis]);
         posControl.rcAdjustment[axis] = 0;
-        pt1FilterReset(&mcPosControllerAccFilterStateX, 0.0f);
-        pt1FilterReset(&mcPosControllerAccFilterStateY, 0.0f);
         lastAccelTargetX = 0.0f;
         lastAccelTargetY = 0.0f;
     }