diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 094e1edf98..fb613a1110 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -169,6 +169,9 @@ static void init_ardupilot()
 		heli_init_swash();  // heli initialisation
 	#endif
 
+	// begin filtering the ADC Gyros
+	adc.filter_result = true;
+
 	init_rc_in();		// sets up rc channels from radio
 	init_rc_out();		// sets up the timer libs
 	init_camera();