diff --git a/firmware/controllers/sensors/frequency_sensor.cpp b/firmware/controllers/sensors/frequency_sensor.cpp
index c9baf3f2ca..ede8ce6402 100644
--- a/firmware/controllers/sensors/frequency_sensor.cpp
+++ b/firmware/controllers/sensors/frequency_sensor.cpp
@@ -39,5 +39,7 @@ void FrequencySensor::deInit() {
 void FrequencySensor::onEdge(efitick_t nowNt) {
 	float frequency = 1 / m_edgeTimer.getElapsedSecondsAndReset(nowNt);
 
+	frequency = m_filter.filter(frequency);
+
 	postRawValue(frequency, nowNt);
 }
diff --git a/firmware/controllers/sensors/frequency_sensor.h b/firmware/controllers/sensors/frequency_sensor.h
index 3179778ddd..ef984efeee 100644
--- a/firmware/controllers/sensors/frequency_sensor.h
+++ b/firmware/controllers/sensors/frequency_sensor.h
@@ -1,10 +1,14 @@
 #include "functional_sensor.h"
 #include "timer.h"
+#include "biquad.h"
 
 class FrequencySensor : public FunctionalSensor {
 public:
-	FrequencySensor(SensorType type, efitick_t timeoutPeriod)
-		: FunctionalSensor(type, timeoutPeriod) { }
+	FrequencySensor(SensorType type, efitick_t timeoutPeriod, float filterParameter)
+		: FunctionalSensor(type, timeoutPeriod)
+	{
+		m_filter.configureLowpass(1, filterParameter);
+	}
 
 	void init(brain_pin_e pin);
 	void deInit();
@@ -14,4 +18,6 @@ public:
 private:
 	Timer m_edgeTimer;
 	brain_pin_e m_pin = GPIO_UNASSIGNED;
+
+	Biquad m_filter;
 };
diff --git a/firmware/init/sensor/init_flex.cpp b/firmware/init/sensor/init_flex.cpp
index c54f674eef..3953509e07 100644
--- a/firmware/init/sensor/init_flex.cpp
+++ b/firmware/init/sensor/init_flex.cpp
@@ -4,7 +4,8 @@
 #include "frequency_sensor.h"
 #include "flex_sensor.h"
 
-static FrequencySensor flexSensor(SensorType::FuelEthanolPercent, MS2NT(500));
+// 0.01 means filter bandwidth of ~1hz with ~100hz sensor
+static FrequencySensor flexSensor(SensorType::FuelEthanolPercent, MS2NT(500), 0.01f);
 static FlexConverter converter;
 
 // https://rusefi.com/forum/viewtopic.php?p=37452&sid=829804c90d5b2e1fecd1b900cf1b1811#p37452
diff --git a/firmware/init/sensor/init_turbocharger_speed_sensor.cpp b/firmware/init/sensor/init_turbocharger_speed_sensor.cpp
index 1e1fbd86de..7fc3c15ed1 100644
--- a/firmware/init/sensor/init_turbocharger_speed_sensor.cpp
+++ b/firmware/init/sensor/init_turbocharger_speed_sensor.cpp
@@ -4,7 +4,8 @@
 #include "frequency_sensor.h"
 #include "turbocharger_speed_converter.h"
 
-static FrequencySensor turbochargerSpeedSensor(SensorType::TurbochargerSpeed, MS2NT(500));
+// Filter parameter of 0.01 filters over roughly 100 teeth
+static FrequencySensor turbochargerSpeedSensor(SensorType::TurbochargerSpeed, MS2NT(500), 0.01f);
 static TurbochargerSpeedConverter turbochargerSpeedConverter;
 
 
diff --git a/firmware/init/sensor/init_vehicle_speed_sensor.cpp b/firmware/init/sensor/init_vehicle_speed_sensor.cpp
index 25e48c2784..2073b12ba6 100644
--- a/firmware/init/sensor/init_vehicle_speed_sensor.cpp
+++ b/firmware/init/sensor/init_vehicle_speed_sensor.cpp
@@ -4,7 +4,8 @@
 #include "frequency_sensor.h"
 #include "vehicle_speed_converter.h"
 
-static FrequencySensor vehicleSpeedSensor(SensorType::VehicleSpeed, MS2NT(500));
+// 0.05 filter parameter means averaging over ~20 sensor teeth
+static FrequencySensor vehicleSpeedSensor(SensorType::VehicleSpeed, MS2NT(500), 0.05f);
 static VehicleSpeedConverter vehicleSpeedConverter;
 
 void initVehicleSpeedSensor() {
diff --git a/unit_tests/tests/sensor/test_frequency_sensor.cpp b/unit_tests/tests/sensor/test_frequency_sensor.cpp
index aea2442f1a..00e9e4eb92 100644
--- a/unit_tests/tests/sensor/test_frequency_sensor.cpp
+++ b/unit_tests/tests/sensor/test_frequency_sensor.cpp
@@ -15,7 +15,7 @@ static IdentityFunction identityFunc;
 class FrequencySensorTest : public ::testing::Test {
 public:
 	FrequencySensorTest()
-		: dut(SensorType::FuelEthanolPercent, MS2NT(50))
+		: dut(SensorType::FuelEthanolPercent, MS2NT(50), 0.5f)
 	{
 	}
 
@@ -32,7 +32,7 @@ public:
 	 *  (as Sensor works by falling edge)
 	 */
 	void generatePwm(EngineTestHelper &eth, float freqHz) {
-		constexpr auto periods = 50;
+		constexpr auto periods = 1000;
 		auto period = (1 / freqHz);
 
 		std::cout << "PERIOD: " << period << std::endl;
@@ -65,6 +65,6 @@ TEST_F(FrequencySensorTest, testValidWithPwm) {
 	{
 		auto s = Sensor::get(SensorType::FuelEthanolPercent);
 		EXPECT_TRUE(s.Valid);
-		EXPECT_FLOAT_EQ(s.Value, 10);
+		EXPECT_NEAR(s.Value, 10, 1e-3);
 	}
 }