diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index fe0585a8d0..f265509655 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -197,10 +197,8 @@ void resetPidProfile(pidProfile_t *pidProfile) {
     .dterm_ABG_half_life = 50,
     .emuGravityGain = 50,
     .angle_filter = 100,
-#ifdef USE_GYRO_DATA_ANALYSE
     .dtermDynNotch = false,
     .dterm_dyn_notch_q = 400,
-#endif
                 );
 }
 
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index bfe63e31f0..ea9f16d811 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -155,10 +155,8 @@ typedef struct pidProfile_s {
     uint16_t dterm_ABG_alpha;
     uint16_t dterm_ABG_boost;
     uint8_t dterm_ABG_half_life;
-#ifdef USE_GYRO_DATA_ANALYSE
     uint8_t dtermDynNotch;
     uint16_t dterm_dyn_notch_q;
-#endif
 } pidProfile_t;
 
 #ifndef USE_OSD_SLAVE
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index cb2690eb58..9af64f98e5 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -394,11 +394,9 @@ static const char *const lookupTableMixerImplType[] = {
     "LEGACY", "SMOOTH", "2PASS"
 };
 
-#ifdef USE_GYRO_DATA_ANALYSE
 static const char *const lookupTableDynNotchAxisType[] = {
     "RP", "RPY"
 };
-#endif
 
 #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
 
@@ -489,9 +487,7 @@ const lookupTableEntry_t lookupTables[] = {
     LOOKUP_TABLE_ENTRY(lookupTableOsdLogoOnArming),
 #endif
     LOOKUP_TABLE_ENTRY(lookupTableMixerImplType),
-#ifdef USE_GYRO_DATA_ANALYSE
     LOOKUP_TABLE_ENTRY(lookupTableDynNotchAxisType),
-#endif
 };
 
 #undef LOOKUP_TABLE_ENTRY
diff --git a/src/main/interface/settings.h b/src/main/interface/settings.h
index ab5ea4482e..e8a8269834 100644
--- a/src/main/interface/settings.h
+++ b/src/main/interface/settings.h
@@ -112,9 +112,7 @@ typedef enum {
     TABLE_OSD_LOGO_ON_ARMING,
 #endif
     TABLE_MIXER_IMPL_TYPE,
-#ifdef USE_GYRO_DATA_ANALYSE
     TABLE_DYN_NOTCH_AXIS_TYPE,
-#endif
     LOOKUP_TABLE_COUNT
 } lookupTableIndex_e;
 
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index cb2c2c6b03..eefea7e341 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -238,12 +238,10 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .gyro_lowpass_hz[ROLL] = 0,
                   .gyro_lowpass_hz[PITCH] = 0,
                   .gyro_lowpass_hz[YAW] = 0,
-#ifdef USE_GYRO_LPF2
                   .gyro_lowpass2_type = FILTER_PT1,
                   .gyro_lowpass2_hz[ROLL] = 0,
                   .gyro_lowpass2_hz[PITCH] = 0,
                   .gyro_lowpass2_hz[YAW] = 0,
-#endif
                   .gyro_high_fsr = false,
                   .gyro_use_32khz = true,
                   .gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT,
@@ -254,13 +252,11 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES,
                   .yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO,
                   .yaw_spin_threshold = 1950,
-#ifdef USE_GYRO_DATA_ANALYSE
                   .dyn_notch_axis = RPY,
                   .dyn_notch_q = 400,
                   .dyn_notch_count = 3, // default of 3 is similar to the matrix filter.
                   .dyn_notch_min_hz = 150,
                   .dyn_notch_max_hz = 600,
-#endif
                   .imuf_mode = GTBCM_GYRO_ACC_FILTER_F,
                   .imuf_rate = IMUF_RATE_16K,
                   .imuf_roll_q = 6000,
@@ -293,12 +289,10 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .gyro_lowpass_hz[ROLL] = 115,
                   .gyro_lowpass_hz[PITCH] = 115,
                   .gyro_lowpass_hz[YAW] = 105,
-#ifdef USE_GYRO_LPF2
                   .gyro_lowpass2_type = FILTER_PT1,
                   .gyro_lowpass2_hz[ROLL] = 0,
                   .gyro_lowpass2_hz[PITCH] = 0,
                   .gyro_lowpass2_hz[YAW] = 0,
-#endif
                   .gyro_high_fsr = false,
                   .gyro_use_32khz = false,
                   .gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT,
@@ -314,13 +308,11 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .gyro_offset_yaw = 0,
                   .yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO,
                   .yaw_spin_threshold = 1950,
-#ifdef USE_GYRO_DATA_ANALYSE
                   .dyn_notch_axis = RPY,
                   .dyn_notch_q = 350,
                   .dyn_notch_count = 3, // default of 3 is similar to the matrix filter.
                   .dyn_notch_min_hz = 150,
                   .dyn_notch_max_hz = 600,
-#endif
                   .gyro_ABG_alpha = 0,
                   .gyro_ABG_boost = 275,
                   .gyro_ABG_half_life = 50,
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 403954835e..b81475a75c 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -113,12 +113,10 @@ typedef struct smithPredictor_s {
 } smithPredictor_t;
 #endif // USE_SMITH_PREDICTOR
 
-#ifdef USE_GYRO_DATA_ANALYSE
 typedef enum {
     RP = 0,
     RPY = 1
 } dynamicGyroAxisType_e;
-#endif
 
 typedef struct gyroConfig_s {
     uint8_t  gyro_align;                       // gyro alignment
@@ -132,9 +130,7 @@ typedef struct gyroConfig_s {
     uint8_t  gyro_to_use;
 
     uint16_t gyro_lowpass_hz[XYZ_AXIS_COUNT];
-#ifdef USE_GYRO_LPF2
     uint16_t gyro_lowpass2_hz[XYZ_AXIS_COUNT];
-#endif
 
     uint16_t gyro_ABG_alpha;
     uint16_t gyro_ABG_boost;
@@ -149,21 +145,17 @@ typedef struct gyroConfig_s {
 
     // Lowpass primary/secondary
     uint8_t  gyro_lowpass_type;
-#ifdef USE_GYRO_LPF2
     uint8_t  gyro_lowpass2_type;
-#endif
 
     uint8_t  yaw_spin_recovery;
     int16_t  yaw_spin_threshold;
 
     uint16_t gyroCalibrationDuration;  // Gyro calibration duration in 1/100 second
-#if defined(USE_GYRO_DATA_ANALYSE)
     uint8_t dyn_notch_axis;
     uint16_t dyn_notch_q;
     uint8_t dyn_notch_count;
     uint16_t dyn_notch_min_hz;
     uint16_t dyn_notch_max_hz;
-#endif
 #if defined(USE_GYRO_IMUF9001)
     uint16_t imuf_mode;
     uint16_t imuf_rate;