diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 65ee10255..08661698e 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -130,6 +130,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .dterm_notch_hz = 0,
         .dterm_notch_cutoff = 0,
         .dterm_filter_type = FILTER_PT1,
+        .dterm_filter2_type = FILTER_PT1,
         .itermWindupPointPercent = 40,
         .vbatPidCompensation = 0,
         .pidAtMinThrottle = PID_STABILISATION_ON,
@@ -212,7 +213,7 @@ static FAST_RAM_ZERO_INIT biquadFilter_t dtermNotch[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT filterApplyFnPtr dtermLowpassApplyFn;
 static FAST_RAM_ZERO_INIT dtermLowpass_t dtermLowpass[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT filterApplyFnPtr dtermLowpass2ApplyFn;
-static FAST_RAM_ZERO_INIT pt1Filter_t dtermLowpass2[XYZ_AXIS_COUNT];
+static FAST_RAM_ZERO_INIT dtermLowpass_t dtermLowpass2[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT filterApplyFnPtr ptermYawLowpassApplyFn;
 static FAST_RAM_ZERO_INIT pt1Filter_t ptermYawLowpass;
 #if defined(USE_ITERM_RELAX)
@@ -271,9 +272,22 @@ void pidInitFilters(const pidProfile_t *pidProfile)
     if (pidProfile->dterm_lowpass2_hz == 0 || pidProfile->dterm_lowpass2_hz > pidFrequencyNyquist) {
     	dtermLowpass2ApplyFn = nullFilterApply;
     } else {
-        dtermLowpass2ApplyFn = (filterApplyFnPtr)pt1FilterApply;
-        for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
-            pt1FilterInit(&dtermLowpass2[axis], pt1FilterGain(pidProfile->dterm_lowpass2_hz, dT));
+        switch (pidProfile->dterm_filter2_type) {
+        default:
+            dtermLowpass2ApplyFn = nullFilterApply;
+            break;
+        case FILTER_PT1:
+            dtermLowpass2ApplyFn = (filterApplyFnPtr)pt1FilterApply;
+            for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
+                pt1FilterInit(&dtermLowpass2[axis].pt1Filter, pt1FilterGain(pidProfile->dterm_lowpass2_hz, dT));
+            }
+            break;
+        case FILTER_BIQUAD:
+            dtermLowpass2ApplyFn = (filterApplyFnPtr)biquadFilterApply;
+            for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
+                biquadFilterInitLPF(&dtermLowpass2[axis].biquadFilter, pidProfile->dterm_lowpass2_hz, targetPidLooptime);
+            }
+            break;
         }
     }
 
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 581ab7d86..25806bdcd 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -148,6 +148,7 @@ typedef struct pidProfile_s {
     uint8_t abs_control_gain;               // How strongly should the absolute accumulated error be corrected for
     uint8_t abs_control_limit;              // Limit to the correction
     uint8_t abs_control_error_limit;        // Limit to the accumulated error
+    uint8_t dterm_filter2_type;             // Filter selection for 2nd dterm
 } pidProfile_t;
 
 PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index f3f4d21ae..82114e47a 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -829,6 +829,7 @@ const clivalue_t valueTable[] = {
 // PG_PID_PROFILE
     { "dterm_lowpass_type",         VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter_type) },
     { "dterm_lowpass_hz",           VAR_INT16  | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lowpass_hz) },
+    { "dterm_lowpass2_type",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter2_type) },
     { "dterm_lowpass2_hz",          VAR_INT16  | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lowpass2_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 = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_cutoff) },