diff --git a/applications/appconf_default.h b/applications/appconf_default.h
index 7368d729..728464ee 100755
--- a/applications/appconf_default.h
+++ b/applications/appconf_default.h
@@ -563,6 +563,9 @@
 #ifndef APPCONF_IMU_ACCEL_LOWPASS_FILTER_Z
 #define APPCONF_IMU_ACCEL_LOWPASS_FILTER_Z	0.0
 #endif
+#ifndef APPCONF_IMU_GYRO_LOWPASS_FILTER
+#define APPCONF_IMU_GYRO_LOWPASS_FILTER		0.0
+#endif
 #ifndef APPCONF_IMU_SAMPLE_RATE_HZ
 #define APPCONF_IMU_SAMPLE_RATE_HZ			200
 #endif
diff --git a/confgenerator.c b/confgenerator.c
index 57b381d0..aecb9c3f 100644
--- a/confgenerator.c
+++ b/confgenerator.c
@@ -377,6 +377,7 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
 	buffer_append_float16(buffer, conf->imu_conf.accel_lowpass_filter_x, 1, &ind);
 	buffer_append_float16(buffer, conf->imu_conf.accel_lowpass_filter_y, 1, &ind);
 	buffer_append_float16(buffer, conf->imu_conf.accel_lowpass_filter_z, 1, &ind);
+	buffer_append_float16(buffer, conf->imu_conf.gyro_lowpass_filter, 1, &ind);
 	buffer_append_uint16(buffer, conf->imu_conf.sample_rate_hz, &ind);
 	buffer[ind++] = conf->imu_conf.use_magnetometer;
 	buffer_append_float32_auto(buffer, conf->imu_conf.accel_confidence_decay, &ind);
@@ -774,6 +775,7 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
 	conf->imu_conf.accel_lowpass_filter_x = buffer_get_float16(buffer, 1, &ind);
 	conf->imu_conf.accel_lowpass_filter_y = buffer_get_float16(buffer, 1, &ind);
 	conf->imu_conf.accel_lowpass_filter_z = buffer_get_float16(buffer, 1, &ind);
+	conf->imu_conf.gyro_lowpass_filter = buffer_get_float16(buffer, 1, &ind);
 	conf->imu_conf.sample_rate_hz = buffer_get_uint16(buffer, &ind);
 	conf->imu_conf.use_magnetometer = buffer[ind++];
 	conf->imu_conf.accel_confidence_decay = buffer_get_float32_auto(buffer, &ind);
@@ -1155,6 +1157,7 @@ void confgenerator_set_defaults_appconf(app_configuration *conf) {
 	conf->imu_conf.accel_lowpass_filter_x = APPCONF_IMU_ACCEL_LOWPASS_FILTER_X;
 	conf->imu_conf.accel_lowpass_filter_y = APPCONF_IMU_ACCEL_LOWPASS_FILTER_Y;
 	conf->imu_conf.accel_lowpass_filter_z = APPCONF_IMU_ACCEL_LOWPASS_FILTER_Z;
+	conf->imu_conf.gyro_lowpass_filter = APPCONF_IMU_GYRO_LOWPASS_FILTER;
 	conf->imu_conf.sample_rate_hz = APPCONF_IMU_SAMPLE_RATE_HZ;
 	conf->imu_conf.use_magnetometer = APPCONF_IMU_USE_MAGNETOMETER;
 	conf->imu_conf.accel_confidence_decay = APPCONF_IMU_ACCEL_CONFIDENCE_DECAY;
diff --git a/confgenerator.h b/confgenerator.h
index 68242a04..49153bbb 100644
--- a/confgenerator.h
+++ b/confgenerator.h
@@ -9,7 +9,7 @@
 
 // Constants
 #define MCCONF_SIGNATURE		347304876
-#define APPCONF_SIGNATURE		3392562538
+#define APPCONF_SIGNATURE		486554156
 
 // Functions
 int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);
diff --git a/datatypes.h b/datatypes.h
index a677138b..8d363a4c 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -873,6 +873,7 @@ typedef struct {
 	float accel_lowpass_filter_x;
 	float accel_lowpass_filter_y;
 	float accel_lowpass_filter_z;
+	float gyro_lowpass_filter;
 	int sample_rate_hz;
 	bool use_magnetometer;
 	float accel_confidence_decay;
diff --git a/imu/imu.c b/imu/imu.c
index ddfdd6bd..78c9bf6c 100644
--- a/imu/imu.c
+++ b/imu/imu.c
@@ -46,7 +46,7 @@ static BMI_STATE m_bmi_state;
 static imu_config m_settings;
 static systime_t init_time;
 static bool imu_ready;
-static Biquad acc_x_biquad, acc_y_biquad, acc_z_biquad;
+static Biquad acc_x_biquad, acc_y_biquad, acc_z_biquad, gyro_x_biquad, gyro_y_biquad, gyro_z_biquad;
 static char *m_imu_type_internal = "Unknown";
 
 // Private functions
@@ -63,7 +63,7 @@ void imu_init(imu_config *set) {
 
 	m_settings = *set;
 
-	// Acc biquad filter
+	//Biquad filters
 	float fc;
 	if(m_settings.accel_lowpass_filter_x > 0){
 		fc = m_settings.accel_lowpass_filter_x / m_settings.sample_rate_hz;
@@ -77,6 +77,13 @@ void imu_init(imu_config *set) {
 		fc = m_settings.accel_lowpass_filter_z / m_settings.sample_rate_hz;
 		biquad_config(&acc_z_biquad, BQ_LOWPASS, fc);
 	}
+	if(m_settings.gyro_lowpass_filter > 0){
+		fc = m_settings.gyro_lowpass_filter / m_settings.sample_rate_hz;
+		biquad_config(&gyro_x_biquad, BQ_LOWPASS, fc);
+		biquad_config(&gyro_y_biquad, BQ_LOWPASS, fc);
+		biquad_config(&gyro_z_biquad, BQ_LOWPASS, fc);
+	}
+
 
 	imu_ready = false;
 
@@ -557,21 +564,26 @@ static void imu_read_callback(float *accel, float *gyro, float *mag) {
 		m_gyro[i] -= m_settings.gyro_offsets[i];
 	}
 
-	float gyro_rad[3];
-	gyro_rad[0] = DEG2RAD_f(m_gyro[0]);
-	gyro_rad[1] = DEG2RAD_f(m_gyro[1]);
-	gyro_rad[2] = DEG2RAD_f(m_gyro[2]);
-
 	// Apply filters
-	if(m_settings.accel_lowpass_filter_x > 0){ // Acc biquad filter
+	if(m_settings.accel_lowpass_filter_x > 0){
 		m_accel[0] = biquad_process(&acc_x_biquad, m_accel[0]);
 	}
-	if(m_settings.accel_lowpass_filter_y > 0){ // Acc biquad filter
+	if(m_settings.accel_lowpass_filter_y > 0){
 		m_accel[1] = biquad_process(&acc_y_biquad, m_accel[1]);
 	}
-	if(m_settings.accel_lowpass_filter_z > 0){ // Acc biquad filter
+	if(m_settings.accel_lowpass_filter_z > 0){
 		m_accel[2] = biquad_process(&acc_z_biquad, m_accel[2]);
 	}
+	if(m_settings.gyro_lowpass_filter > 0){
+		m_gyro[0] = biquad_process(&gyro_x_biquad, m_gyro[0]);
+		m_gyro[1] = biquad_process(&gyro_y_biquad, m_gyro[1]);
+		m_gyro[2] = biquad_process(&gyro_z_biquad, m_gyro[2]);
+	}
+
+	float gyro_rad[3];
+		gyro_rad[0] = DEG2RAD_f(m_gyro[0]);
+		gyro_rad[1] = DEG2RAD_f(m_gyro[1]);
+		gyro_rad[2] = DEG2RAD_f(m_gyro[2]);
 
 	switch (m_settings.mode) {
 		case AHRS_MODE_MADGWICK: