diff --git a/src/main/common/filter.h b/src/main/common/filter.h
index be3bacd85..6f3b58854 100644
--- a/src/main/common/filter.h
+++ b/src/main/common/filter.h
@@ -5,7 +5,7 @@
  *      Author: borisb
  */
 
-#define YAW_PTERM_FILTER 30
+
 
 typedef struct filterStatePt1_s {
 	float state;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 24616c95c..ef92375ce 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -96,7 +96,6 @@ void pidResetErrorGyro(void)
 const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
 
 static filterStatePt1_t DTermState[3];
-static filterStatePt1_t yawPTermState;
 
 static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
         uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
@@ -173,10 +172,6 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         // -----calculate P component
         PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
 
-        if (axis == YAW) {
-            PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
-        }
-
         // -----calculate I component.
         errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
 
@@ -289,10 +284,6 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
         // -----calculate P component
         PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
 
-        if (axis == YAW) {
-            PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
-        }
-
         // -----calculate I component
         // there should be no division before accumulating the error to integrator, because the precision would be reduced.
         // Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.