diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index cd8b412ce..3b159c04a 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -94,7 +94,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
     float ITerm,PTerm,DTerm;
     int32_t stickPosAil, stickPosEle, mostDeflectedPos;
     static float lastError[3];
-    static float deltaOld[3][7];
+    static float deltaOld[3][9];
     float delta, deltaSum;
     int axis, deltaCount;
     float horizonLevelStrength = 1;
@@ -194,11 +194,15 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         delta *= (1.0f / dT);
 
         // Apply median filter for averaging
-        for (deltaCount = 6; deltaCount > 0; deltaCount--) {
+        for (deltaCount = 8; deltaCount > 0; deltaCount--) {
             deltaOld[axis][deltaCount] = deltaOld[axis][deltaCount-1];
         }
         deltaOld[axis][0] = delta;
-        deltaSum = quickMedianFilter7f(deltaOld[axis]);
+        if (targetLooptime < 1000){
+            deltaSum = quickMedianFilter9f(deltaOld[axis]);
+        } else {
+            deltaSum = quickMedianFilter7f(deltaOld[axis]);
+        }
 
         if (pidProfile->dterm_cut_hz) {
             // Dterm low pass
@@ -232,7 +236,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
     int32_t errorAngle;
     int axis, deltaCount;
     int32_t delta, deltaSum;
-    static int32_t deltaOld[3][7];
+    static int32_t deltaOld[3][9];
     int32_t PTerm, ITerm, DTerm;
     static int32_t lastError[3] = { 0, 0, 0 };
     static int32_t previousErrorGyroI[3] = { 0, 0, 0 };
@@ -335,11 +339,16 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
         delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetLooptime >> 4))) >> 6;
 
         // Apply median filter for averaging
-        for (deltaCount = 6; deltaCount > 0; deltaCount--) {
+        for (deltaCount = 8; deltaCount > 0; deltaCount--) {
             deltaOld[axis][deltaCount] = deltaOld[axis][deltaCount-1];
         }
         deltaOld[axis][0] = delta;
-        deltaSum = quickMedianFilter7(deltaOld[axis]);
+
+        if (targetLooptime < 1000){
+            deltaSum = quickMedianFilter9(deltaOld[axis]);
+        } else {
+            deltaSum = quickMedianFilter7(deltaOld[axis]);
+        }
         deltaSum *= 3;  // Get same scaling
 
         if (pidProfile->dterm_cut_hz) {