diff --git a/src/shared/algorithms/Filters/AdjustableMedFilter.h b/src/shared/algorithms/Filters/AdjustableMedFilter.h
new file mode 100644
index 0000000000000000000000000000000000000000..a068864c3ba774aad3a12db02d24d14dc9ea5d26
--- /dev/null
+++ b/src/shared/algorithms/Filters/AdjustableMedFilter.h
@@ -0,0 +1,74 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Federico Lolli
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <utils/SlidingWindow.h>
+
+#include <array>
+
+namespace Boardcore
+{
+
+/**
+ * @brief Median Filter with adjustable window size in order to use the widest
+ * window size available if enough values have been pushed through
+ *
+ * @tparam WIN_SIZE The maximum size of the window
+ */
+template <size_t WIN_SIZE>
+class AdjustableMedFilter
+{
+    // WIN_SIZE must be odd
+    static_assert(WIN_SIZE % 2 == 1, "WIN_SIZE must be odd");
+
+public:
+    explicit AdjustableMedFilter() : window() {}
+
+    float filter(float input)
+    {
+        window.push(input);
+        return median();
+    }
+
+private:
+    /**
+     * @warning assumption: UB if the window completely empty
+     */
+    float median()
+    {
+        std::array<float, WIN_SIZE> sorted_window = window.all();
+
+        size_t fil = window.filled();
+        // reduce to the nearest odd number
+        size_t best_win_size = fil % 2 && fil > 0 ? fil - 1 : fil;
+
+        std::sort(sorted_window.begin() + WIN_SIZE - best_win_size,
+                  sorted_window.end());
+
+        return sorted_window[best_win_size / 2 + WIN_SIZE - best_win_size];
+    }
+
+    SlidingWindow<float, WIN_SIZE> window;
+};
+
+}  // namespace Boardcore
diff --git a/src/shared/algorithms/Filters/MedFilter.h b/src/shared/algorithms/Filters/ExactMedFilter.h
similarity index 80%
rename from src/shared/algorithms/Filters/MedFilter.h
rename to src/shared/algorithms/Filters/ExactMedFilter.h
index 4b9d16b536413e55578b57bd84a2e9a2810e2bca..63bfa091af391a6559dc760e2bda5dc4551e48ea 100644
--- a/src/shared/algorithms/Filters/MedFilter.h
+++ b/src/shared/algorithms/Filters/ExactMedFilter.h
@@ -30,31 +30,32 @@ namespace Boardcore
 {
 
 /**
- * @brief Implementation of a Median Filter
+ * @brief Exact Median Filter based on a fixed window size, mind that while it
+ * is not full the filtered output should not be taken into consideration
  *
- * @tparam WIN_SIZE The size of the window
- * @note WARNING: should be noted that the first WIN_SIZE - 1 outputs will be
+ * @tparam WIN_SIZE The exact size of the window
+ * @warning: should be noted that the first WIN_SIZE - 1 outputs will be
  * wrong because the window is not full yet (consider using a Shadow Mode)
  */
 template <size_t WIN_SIZE>
-class MedFilter
+class ExactMedFilter
 {
     // WIN_SIZE must be odd
     static_assert(WIN_SIZE % 2 == 1, "WIN_SIZE must be odd");
 
 public:
     /**
-     * @brief Construct a new Median Filter object
+     * @brief Construct a new Exact Median Filter object
      *
-     * @note WARNING: Initialize output at 0 at first
+     * @warning Initialize output at 0 at first
      */
-    explicit MedFilter() : window() {}
+    explicit ExactMedFilter() : window() {}
 
     /**
      * @brief Filter the input
      *
      * @param input The input to filter
-     * @note WARNING: should be noted that the first WIN_SIZE - 1 outputs will
+     * @warning should be noted that the first WIN_SIZE - 1 outputs will
      * be wrong because the window is not full yet (consider using a Shadow
      * Mode)
      */