diff --git a/docs/Cli.md b/docs/Cli.md
index 9566b0ea5a7..26699f91600 100644
--- a/docs/Cli.md
+++ b/docs/Cli.md
@@ -231,8 +231,7 @@ Re-apply any new defaults as desired.
 |  yaw_motor_direction  | 1 | Use if you need to inverse yaw motor direction. |
 |  yaw_jump_prevention_limit  | 200 | Prevent yaw jumps during yaw stops and rapid YAW input. To disable set to 500. Adjust this if your aircraft 'skids out'. Higher values increases YAW authority but can cause roll/pitch instability in case of underpowered UAVs. Lower values makes yaw adjustments more gentle but can cause UAV unable to keep heading |
 |  tri_unarmed_servo  | ON | On tricopter mix only, if this is set to ON, servo will always be correcting regardless of armed state. to disable this, set it to OFF. |
-|  servo_lowpass_freq  | 400 | Selects the servo PWM output cutoff frequency. Value is in [Hz] |
-|  servo_lowpass_enable  | OFF |  |
+|  servo_lpf_hz  | 0 | Selects the servo PWM output cutoff frequency. Value is in [Hz] |
 |  servo_center_pulse  | 1500 | Servo midpoint |
 |  servo_pwm_rate  | 50 | Output frequency (in Hz) servo pins. Default is 50Hz. When using tricopters or gimbal with digital servo, this rate can be increased. Max of 498Hz (for 500Hz pwm period), and min of 50Hz. Most digital servos will support for example 330Hz. |
 |  failsafe_delay  | 5 | Time in deciseconds to wait before activating failsafe when signal is lost. See [Failsafe documentation](Failsafe.md#failsafe_delay). |
@@ -340,8 +339,8 @@ Re-apply any new defaults as desired.
 | `fw_d_level` | 75 | Fixed-wing attitude stabilisation HORIZON transition point    |
 |  max_angle_inclination_rll  | 300 | Maximum inclination in level (angle) mode (ROLL axis). 100=10° |
 |  max_angle_inclination_pit  | 300 | Maximum inclination in level (angle) mode (PITCH axis). 100=10° |
-|  gyro_soft_lpf_hz  | 60 | Software-based filter to remove mechanical vibrations from the gyro signal. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value. Default 60Hz |
-|  acc_soft_lpf_hz  | 15 | Software-based filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value. Default 15Hz |
+|  gyro_lpf_hz  | 60 | Software-based filter to remove mechanical vibrations from the gyro signal. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value. Default 60Hz |
+|  acc_lpf_hz  | 15 | Software-based filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value. Default 15Hz |
 |  dterm_lpf_hz  | 40 |  |
 |  yaw_lpf_hz  | 30 |  |
 |  pidsum_limit  | 500 | A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch/Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help |