Traditional mortgages can have the PMI waved when Loan to value is below 80% with an appraisal.

FHA requires 5 years min. of mortgage insurance payments and 78% of the original mortgage cost.

If you want to get out of PMI, you will have to refinance out of FHA into a new mortgage. Depending on rate and expected time to get to 78% of purchase price, might make sense to pay the closing costs.