diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
index fdde2cf..53464ef 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@@ -67,6 +67,7 @@ static pidProfile_t *pidProfile;
 static bool isUsingSticksToArm = true;
 
 int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
+int16_t rcCommandSmooth[4];     // Smoothed RcCommand
 
 uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
 
diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
index eaec277..dd8afaf 100644
--- a/src/main/io/rc_controls.h
+++ b/src/main/io/rc_controls.h
@@ -147,6 +147,7 @@ typedef struct controlRateConfig_s {
 } controlRateConfig_t;
 
 extern int16_t rcCommand[4];
+extern int16_t rcCommandSmooth[4];     // Smoothed RcCommand
 
 typedef struct rcControlsConfig_s {
     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
diff --git a/src/main/mw.c b/src/main/mw.c
index 125674c..5da79cf 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -181,7 +181,7 @@ void filterRc(void)
 
     if (isRXDataNew) {
         for (int channel=0; channel < 4; channel++) {
-            deltaRC[channel] = rcCommand[channel] -  (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
+            deltaRC[channel] = rcCommand[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
             lastCommand[channel] = rcCommand[channel];
         }
 
@@ -194,7 +194,7 @@ void filterRc(void)
     // Interpolate steps of rcCommand
     if (factor > 0) {
         for (int channel=0; channel < 4; channel++) {
-            rcCommand[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
+            rcCommandSmooth[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
          }
     } else {
         factor = 0;
@@ -649,8 +649,11 @@ void subTaskMainSubprocesses(void) {
 
     const uint32_t startTime = micros();
 
+    filterRc();
+
     if (masterConfig.rxConfig.rcSmoothing || flightModeFlags) {
-        filterRc();
+        int axis;
+        for (axis = 0; axis <= 4; axis++) rcCommand[axis] = rcCommandSmooth[axis];
     }
 
     // Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.