diff --git a/src/main/fc/settings.c b/src/main/fc/settings.c
index 8ff270544..d457fe76d 100644
--- a/src/main/fc/settings.c
+++ b/src/main/fc/settings.c
@@ -308,9 +308,9 @@ const clivalue_t valueTable[] = {
     { "gyro_lowpass_type",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LOWPASS_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_lpf_type) },
     { "gyro_lowpass_hz",            VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0,  255 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_lpf_hz) },
     { "gyro_notch1_hz",             VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_1) },
-    { "gyro_notch1_cutoff",         VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_1) },
+    { "gyro_notch1_cutoff",         VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_1) },
     { "gyro_notch2_hz",             VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_2) },
-    { "gyro_notch2_cutoff",         VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_2) },
+    { "gyro_notch2_cutoff",         VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_2) },
     { "moron_threshold",            VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0,  200 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroMovementCalibrationThreshold) },
 #if defined(GYRO_USES_SPI)
 #if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
@@ -556,7 +556,7 @@ const clivalue_t valueTable[] = {
     { "dterm_lowpass_type",         VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter_type) },
     { "dterm_lowpass",              VAR_INT16  | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf_hz) },
     { "dterm_notch_hz",             VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_hz) },
-    { "dterm_notch_cutoff",         VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_cutoff) },
+    { "dterm_notch_cutoff",         VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_cutoff) },
     { "vbat_pid_gain",              VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, vbatPidCompensation) },
     { "pid_at_min_throttle",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, pidAtMinThrottle) },
     { "anti_gravity_threshold",     VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index fdede37e3..670b8213f 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -172,7 +172,7 @@ void pidInitFilters(const pidProfile_t *pidProfile)
 
     const uint32_t pidFrequencyNyquist = (1.0f / dT) / 2; // No rounding needed
 
-    float dTermNotchHz;
+    uint16_t dTermNotchHz;
     if (pidProfile->dterm_notch_hz <= pidFrequencyNyquist) {
         dTermNotchHz = pidProfile->dterm_notch_hz;
     } else {
@@ -183,8 +183,8 @@ void pidInitFilters(const pidProfile_t *pidProfile)
         }
     }
 
-    static biquadFilter_t biquadFilterNotch[2];
-    if (dTermNotchHz) {
+    if (dTermNotchHz != 0 && pidProfile->dterm_notch_cutoff != 0) {
+        static biquadFilter_t biquadFilterNotch[2];
         dtermNotchFilterApplyFn = (filterApplyFnPtr)biquadFilterApply;
         const float notchQ = filterGetNotchQ(dTermNotchHz, pidProfile->dterm_notch_cutoff);
         for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) {