diff --git a/src/main/fc/rc.c b/src/main/fc/rc.c
index 63fabb514..34eb11494 100644
--- a/src/main/fc/rc.c
+++ b/src/main/fc/rc.c
@@ -71,7 +71,8 @@ enum {
 #ifdef USE_RC_SMOOTHING_FILTER
 #define RC_SMOOTHING_IDENTITY_FREQUENCY         80    // Used in the formula to convert a BIQUAD cutoff frequency to PT1
 #define RC_SMOOTHING_FILTER_STARTUP_DELAY_MS    5000  // Time to wait after power to let the PID loop stabilize before starting average frame rate calculation
-#define RC_SMOOTHING_FILTER_TRAINING_SAMPLES    50    // Number of rx frame rate samples to average
+#define RC_SMOOTHING_FILTER_TRAINING_SAMPLES    50    // Number of rx frame rate samples to average during initial training
+#define RC_SMOOTHING_FILTER_RETRAINING_SAMPLES  20    // Number of rx frame rate samples to average during frame rate changes
 #define RC_SMOOTHING_FILTER_TRAINING_DELAY_MS   1000  // Additional time to wait after receiving first valid rx frame before initial training starts
 #define RC_SMOOTHING_FILTER_RETRAINING_DELAY_MS 2000  // Guard time to wait after retraining to prevent retraining again too quickly
 #define RC_SMOOTHING_RX_RATE_CHANGE_PERCENT     20    // Look for samples varying this much from the current detected frame rate to initiate retraining
@@ -377,7 +378,8 @@ FAST_CODE bool rcSmoothingAccumulateSample(rcSmoothingFilter_t *smoothingData, i
     smoothingData->training.min = MIN(smoothingData->training.min, rxFrameTimeUs);
 
     // if we've collected enough samples then calculate the average and reset the accumulation
-    if (smoothingData->training.count >= RC_SMOOTHING_FILTER_TRAINING_SAMPLES) {
+    const int sampleLimit = (rcSmoothingData.filterInitialized) ? RC_SMOOTHING_FILTER_RETRAINING_SAMPLES : RC_SMOOTHING_FILTER_TRAINING_SAMPLES;
+    if (smoothingData->training.count >= sampleLimit) {
         smoothingData->training.sum = smoothingData->training.sum - smoothingData->training.min - smoothingData->training.max; // Throw out high and low samples
         smoothingData->averageFrameTimeUs = lrintf(smoothingData->training.sum / (smoothingData->training.count - 2));
         rcSmoothingResetAccumulation(smoothingData);