diff --git a/flight/modules/StateEstimation/filtercf.c b/flight/modules/StateEstimation/filtercf.c
index 2e20b51e4..fae8d1f8c 100644
--- a/flight/modules/StateEstimation/filtercf.c
+++ b/flight/modules/StateEstimation/filtercf.c
@@ -296,7 +296,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
         float const gyrovary = pseudo_windowed_variance_get(&this->gyro_var[1]);
         float const gyrovarz = pseudo_windowed_variance_get(&this->gyro_var[2]);
 
-        if ((fabsf(gyrovarx) + fabsf(gyrovary) + fabsf(gyrovarz)) > 1.0f) {
+        if ((fabsf(gyrovarx) + fabsf(gyrovary) + fabsf(gyrovarz)) > this->attitudeSettings.BoardSteadyMaxVariance) {
             this->starttime = xTaskGetTickCount();
             this->first_run = 1;
             return FILTERRESULT_WARNING;
diff --git a/shared/uavobjectdefinition/attitudesettings.xml b/shared/uavobjectdefinition/attitudesettings.xml
index e4a5e7a4a..73acb4bd0 100644
--- a/shared/uavobjectdefinition/attitudesettings.xml
+++ b/shared/uavobjectdefinition/attitudesettings.xml
@@ -12,6 +12,7 @@
         <field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>
         <field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>
         <field name="InitialZeroWhenBoardSteady" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
+        <field name="BoardSteadyMaxVariance" units="" type="float" elements="1" defaultvalue="2"/>
         <field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>