diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 7fb570010c..f742cc082b 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -59,6 +59,16 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] PROGMEM = {
 // high level controllers
 //
 
+void AC_AttitudeControl::set_dt(float delta_sec)
+{
+    _dt = delta_sec;
+
+    // set attitude controller's D term filters
+    _pid_rate_roll.set_d_lpf_alpha(AC_ATTITUDE_RATE_RP_PID_DTERM_FILTER, _dt);
+    _pid_rate_pitch.set_d_lpf_alpha(AC_ATTITUDE_RATE_RP_PID_DTERM_FILTER, _dt);
+    _pid_rate_yaw.set_d_lpf_alpha(AC_ATTITUDE_RATE_Y_PID_DTERM_FILTER, _dt);
+}
+
 // init_targets - resets target angles to current angles
 void AC_AttitudeControl::init_targets()
 {
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index aa1942bad6..4e70a1a289 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -37,6 +37,9 @@
 #define AC_ATTITUDE_100HZ_DT                            0.0100f // delta time in seconds for 100hz update rate
 #define AC_ATTITUDE_400HZ_DT                            0.0025f // delta time in seconds for 400hz update rate
 
+#define AC_ATTITUDE_RATE_RP_PID_DTERM_FILTER            20      // D-term filter rate cutoff frequency for Roll and Pitch rate controllers
+#define AC_ATTITUDE_RATE_Y_PID_DTERM_FILTER             5       // D-term filter rate cutoff frequency for Yaw rate controller
+
 class AC_AttitudeControl {
 public:
 	AC_AttitudeControl( AP_AHRS &ahrs,
@@ -70,7 +73,7 @@ public:
     //
 
     // set_dt - sets time delta in seconds for all controllers (i.e. 100hz = 0.01, 400hz = 0.0025)
-    void set_dt(float delta_sec) { _dt = delta_sec; }
+    void set_dt(float delta_sec);
 
     // init_targets - resets target angles to current angles
     void init_targets();