diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
index b30ea4d0f9..62ffed5eec 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
@@ -301,6 +301,31 @@ void VehicleAngularVelocity::ParametersUpdate(bool force)
 				break;
 			}
 		}
+
+#if !defined(CONSTRAINED_FLASH)
+
+		if (_param_imu_gyro_dyn_nf.get() & DynamicNotch::EscRpm) {
+			if (_dynamic_notch_filter_esc_rpm_update_perf == nullptr) {
+				_dynamic_notch_filter_esc_rpm_update_perf = perf_alloc(PC_COUNT,
+						MODULE_NAME": gyro dynamic notch filter ESC RPM update");
+			}
+
+			if (_dynamic_notch_filter_esc_rpm_perf == nullptr) {
+				_dynamic_notch_filter_esc_rpm_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": gyro dynamic notch ESC RPM filter");
+			}
+		}
+
+		if (_param_imu_gyro_dyn_nf.get() & DynamicNotch::FFT) {
+			if (_dynamic_notch_filter_fft_update_perf == nullptr) {
+				_dynamic_notch_filter_fft_update_perf = perf_alloc(PC_COUNT, MODULE_NAME": gyro dynamic notch filter FFT update");
+			}
+
+			if (_dynamic_notch_filter_fft_perf == nullptr) {
+				_dynamic_notch_filter_fft_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": gyro dynamic notch FFT filter");
+			}
+		}
+
+#endif // !CONSTRAINED_FLASH
 	}
 }
 
@@ -337,7 +362,7 @@ void VehicleAngularVelocity::DisableDynamicNotchFFT()
 void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(bool force)
 {
 #if !defined(CONSTRAINED_FLASH)
-	const bool enabled = _param_imu_gyro_dyn_nf.get() & 0b01;
+	const bool enabled = _param_imu_gyro_dyn_nf.get() & DynamicNotch::EscRpm;
 
 	if (enabled && (_esc_status_sub.updated() || force)) {
 		_dynamic_notch_esc_rpm_available = false;
@@ -390,7 +415,7 @@ void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(bool force)
 void VehicleAngularVelocity::UpdateDynamicNotchFFT(bool force)
 {
 #if !defined(CONSTRAINED_FLASH)
-	const bool enabled = _param_imu_gyro_dyn_nf.get() & 0b10;
+	const bool enabled = _param_imu_gyro_dyn_nf.get() & DynamicNotch::FFT;
 
 	if (enabled && (_sensor_gyro_fft_sub.updated() || force)) {
 		_dynamic_notch_fft_available = false;
@@ -400,7 +425,7 @@ void VehicleAngularVelocity::UpdateDynamicNotchFFT(bool force)
 		if (_sensor_gyro_fft_sub.copy(&sensor_gyro_fft) && (sensor_gyro_fft.device_id == _selected_sensor_device_id)
 		    && (fabsf(sensor_gyro_fft.sensor_sample_rate_hz - _filter_sample_rate_hz) < 0.05f)) {
 
-			float *peak_frequencies[] { sensor_gyro_fft.peak_frequencies_x, sensor_gyro_fft.peak_frequencies_y, sensor_gyro_fft.peak_frequencies_z};
+			float *peak_frequencies[] {sensor_gyro_fft.peak_frequencies_x, sensor_gyro_fft.peak_frequencies_y, sensor_gyro_fft.peak_frequencies_z};
 
 			for (int axis = 0; axis < 3; axis++) {
 				for (int i = 0; i < MAX_NUM_FFT_PEAKS; i++) {
diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
index 18c8d4c510..39ca082d01 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
@@ -126,6 +126,12 @@ private:
 	math::NotchFilterArray<float> _notch_filter_velocity[3] {};
 
 #if !defined(CONSTRAINED_FLASH)
+
+	enum DynamicNotch {
+		EscRpm = 1,
+		FFT    = 2,
+	};
+
 	static constexpr int MAX_NUM_ESC_RPM = sizeof(esc_status_s::esc) / sizeof(esc_status_s::esc[0]);
 	static constexpr int MAX_NUM_FFT_PEAKS = sizeof(sensor_gyro_fft_s::peak_frequencies_x) / sizeof(
 				sensor_gyro_fft_s::peak_frequencies_x[0]);
@@ -133,10 +139,10 @@ private:
 	math::NotchFilterArray<float> _dynamic_notch_filter_esc_rpm[MAX_NUM_ESC_RPM][3] {};
 	math::NotchFilterArray<float> _dynamic_notch_filter_fft[MAX_NUM_FFT_PEAKS][3] {};
 
-	perf_counter_t _dynamic_notch_filter_esc_rpm_update_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro dynamic notch filter ESC RPM update")};
-	perf_counter_t _dynamic_notch_filter_fft_update_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro dynamic notch filter FFT update")};
-	perf_counter_t _dynamic_notch_filter_esc_rpm_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": gyro dynamic notch ESC RPM filter")};
-	perf_counter_t _dynamic_notch_filter_fft_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": gyro dynamic notch FFT filter")};
+	perf_counter_t _dynamic_notch_filter_esc_rpm_update_perf{nullptr};
+	perf_counter_t _dynamic_notch_filter_fft_update_perf{nullptr};
+	perf_counter_t _dynamic_notch_filter_esc_rpm_perf{nullptr};
+	perf_counter_t _dynamic_notch_filter_fft_perf{nullptr};
 
 	bool _dynamic_notch_esc_rpm_available{false};
 	bool _dynamic_notch_fft_available{false};
diff --git a/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c b/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c
index 41e95f983f..1a87b2ac1d 100644
--- a/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c
+++ b/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c
@@ -129,7 +129,7 @@ PARAM_DEFINE_FLOAT(IMU_DGYRO_CUTOFF, 10.0f);
 * Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).
 * @group Sensors
 * @min 0
-* @max 2
+* @max 3
 * @bit 0 ESC RPM
 * @bit 1 FFT
 */