diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index 67e60746a..58e1fbd45 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -453,6 +453,10 @@ const char * const lookupTableLEDRaceColors[COLOR_COUNT] = {
     "DEEP_PINK"
 };
 
+static const char * const lookupTableGyroFilterDebug[] = {
+    "ROLL", "PITCH", "YAW"
+};
+
 #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
 
 const lookupTableEntry_t lookupTables[] = {
@@ -565,6 +569,8 @@ const lookupTableEntry_t lookupTables[] = {
     LOOKUP_TABLE_ENTRY(lookupTableLEDProfile),
     LOOKUP_TABLE_ENTRY(lookupTableLEDRaceColors),
 #endif
+
+    LOOKUP_TABLE_ENTRY(lookupTableGyroFilterDebug),
 };
 
 #undef LOOKUP_TABLE_ENTRY
@@ -621,6 +627,7 @@ const clivalue_t valueTable[] = {
     { "dyn_lpf_dterm_min_hz",       VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_min_hz) },
     { "dyn_lpf_dterm_max_hz",       VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_max_hz) },
 #endif
+    { "gyro_filter_debug_axis",    VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_FILTER_DEBUG }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_debug_axis) },
 
 // PG_ACCELEROMETER_CONFIG
     { "align_acc",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_align) },
diff --git a/src/main/interface/settings.h b/src/main/interface/settings.h
index 753055474..cec73d175 100644
--- a/src/main/interface/settings.h
+++ b/src/main/interface/settings.h
@@ -135,6 +135,7 @@ typedef enum {
     TABLE_LED_PROFILE,
     TABLE_LED_RACE_COLOR,
 #endif
+    TABLE_GYRO_FILTER_DEBUG,
     LOOKUP_TABLE_COUNT
 } lookupTableIndex_e;
 
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index fd76fa976..7a9e1798d 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -159,6 +159,7 @@ typedef struct gyroSensor_s {
     gyroAnalyseState_t gyroAnalyseState;
 #endif
 
+    flight_dynamics_index_t gyroDebugAxis;
 } gyroSensor_t;
 
 STATIC_UNIT_TESTED FAST_RAM_ZERO_INIT gyroSensor_t gyroSensor1;
@@ -228,6 +229,7 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
     gyroConfig->gyro_lowpass_type = FILTER_BIQUAD;
     gyroConfig->gyro_lowpass2_hz = 0;
 #endif
+    gyroConfig->gyro_filter_debug_axis = FD_ROLL;
 }
 
 #ifdef USE_MULTI_GYRO
@@ -414,6 +416,7 @@ static void gyroPreInitSensor(const gyroDeviceConfig_t *config)
 
 static bool gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
 {
+    gyroSensor->gyroDebugAxis = gyroConfig()->gyro_filter_debug_axis;
     gyroSensor->gyroDev.gyro_high_fsr = gyroConfig()->gyro_high_fsr;
     gyroSensor->gyroDev.gyroAlign = config->align;
     gyroSensor->gyroDev.mpuIntExtiTag = config->extiTag;
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 71833aaca..d9e5577ac 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -104,6 +104,7 @@ typedef struct gyroConfig_s {
     uint8_t  dyn_notch_width_percent;
     uint16_t dyn_notch_q;
     uint16_t dyn_notch_min_hz;
+    uint8_t  gyro_filter_debug_axis;
 } gyroConfig_t;
 
 PG_DECLARE(gyroConfig_t, gyroConfig);
diff --git a/src/main/sensors/gyro_filter_impl.h b/src/main/sensors/gyro_filter_impl.h
index 977eb5f30..119ecbf32 100644
--- a/src/main/sensors/gyro_filter_impl.h
+++ b/src/main/sensors/gyro_filter_impl.h
@@ -9,7 +9,7 @@ static FAST_CODE void GYRO_FILTER_FUNCTION_NAME(gyroSensor_t *gyroSensor)
 
 #ifdef USE_GYRO_DATA_ANALYSE
         if (isDynamicFilterActive()) {
-            if (axis == X) {
+            if (axis == gyroSensor->gyroDebugAxis) {
                 GYRO_FILTER_DEBUG_SET(DEBUG_FFT, 0, lrintf(gyroADCf));
                 GYRO_FILTER_DEBUG_SET(DEBUG_FFT_FREQ, 3, lrintf(gyroADCf));
                 GYRO_FILTER_DEBUG_SET(DEBUG_DYN_LPF, 0, lrintf(gyroADCf));
@@ -30,7 +30,7 @@ static FAST_CODE void GYRO_FILTER_FUNCTION_NAME(gyroSensor_t *gyroSensor)
 
 #ifdef USE_GYRO_DATA_ANALYSE
         if (isDynamicFilterActive()) {
-            if (axis == X) {
+            if (axis == gyroSensor->gyroDebugAxis) {
                 GYRO_FILTER_DEBUG_SET(DEBUG_FFT, 1, lrintf(gyroADCf));
                 GYRO_FILTER_DEBUG_SET(DEBUG_FFT_FREQ, 2, lrintf(gyroADCf));
                 GYRO_FILTER_DEBUG_SET(DEBUG_DYN_LPF, 3, lrintf(gyroADCf));