diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp
index 0441cd40e4..b3d52492cd 100644
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@@ -26,14 +26,14 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
     // @DisplayName: Steering control rate P gain
     // @Description: Steering control rate P gain.  Converts the turn rate error (in radians/sec) to a steering control output (in the range -1 to +1)
     // @Range: 0.000 2.000
-    // @Increment: 0.01
+    // @Increment: 0.001
     // @User: Standard
 
     // @Param: _STR_RAT_I
     // @DisplayName: Steering control I gain
     // @Description: Steering control I gain.  Corrects long term error between the desired turn rate (in rad/s) and actual
     // @Range: 0.000 2.000
-    // @Increment: 0.01
+    // @Increment: 0.001
     // @User: Standard
 
     // @Param: _STR_RAT_IMAX
@@ -68,18 +68,24 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
     // @Param: _STR_RAT_FLTT
     // @DisplayName: Steering control Target filter frequency in Hz
     // @Description: Target filter frequency in Hz
+    // @Range: 0.000 100.000
+    // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
 
     // @Param: _STR_RAT_FLTE
     // @DisplayName: Steering control Error filter frequency in Hz
     // @Description: Error filter frequency in Hz
+    // @Range: 0.000 100.000
+    // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
 
     // @Param: _STR_RAT_FLTD
     // @DisplayName: Steering control Derivative term filter frequency in Hz
     // @Description: Derivative filter frequency in Hz
+    // @Range: 0.000 100.000
+    // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
     AP_SUBGROUPINFO(_steer_rate_pid, "_STR_RAT_", 1, AR_AttitudeControl, AC_PID),
@@ -95,6 +101,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
     // @DisplayName: Speed control I gain
     // @Description: Speed control I gain.  Corrects long term error between the desired speed (in m/s) and actual speed
     // @Range: 0.000 2.000
+    // @Increment: 0.01
     // @User: Standard
 
     // @Param: _SPEED_IMAX
@@ -129,18 +136,24 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
     // @Param: _SPEED_FLTT
     // @DisplayName: Speed control Target filter frequency in Hz
     // @Description: Target filter frequency in Hz
+    // @Range: 0.000 100.000
+    // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
 
     // @Param: _SPEED_FLTE
     // @DisplayName: Speed control Error filter frequency in Hz
     // @Description: Error filter frequency in Hz
+    // @Range: 0.000 100.000
+    // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
 
     // @Param: _SPEED_FLTD
     // @DisplayName: Speed control Derivative term filter frequency in Hz
     // @Description: Derivative filter frequency in Hz
+    // @Range: 0.000 100.000
+    // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
     AP_SUBGROUPINFO(_throttle_speed_pid, "_SPEED_", 2, AR_AttitudeControl, AC_PID),
@@ -216,6 +229,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
     // @DisplayName: Pitch control I gain
     // @Description: Pitch control I gain for BalanceBots.  Corrects long term error between the desired pitch (in radians) and actual pitch
     // @Range: 0.000 2.000
+    // @Increment: 0.01
     // @User: Standard
 
     // @Param: _BAL_IMAX
@@ -250,18 +264,24 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
     // @Param: _BAL_FLTT
     // @DisplayName: Pitch control Target filter frequency in Hz
     // @Description: Target filter frequency in Hz
+    // @Range: 0.000 100.000
+    // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
 
     // @Param: _BAL_FLTE
     // @DisplayName: Pitch control Error filter frequency in Hz
     // @Description: Error filter frequency in Hz
+    // @Range: 0.000 100.000
+    // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
 
     // @Param: _BAL_FLTD
     // @DisplayName: Pitch control Derivative term filter frequency in Hz
     // @Description: Derivative filter frequency in Hz
+    // @Range: 0.000 100.000
+    // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
     AP_SUBGROUPINFO(_pitch_to_throttle_pid, "_BAL_", 10, AR_AttitudeControl, AC_PID),
@@ -285,6 +305,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
     // @DisplayName: Sail Heel control I gain
     // @Description: Sail Heel control I gain for sailboats.  Corrects long term error between the desired heel angle (in radians) and actual
     // @Range: 0.000 2.000
+    // @Increment: 0.01
     // @User: Standard
 
     // @Param: _SAIL_IMAX
@@ -319,18 +340,24 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
     // @Param: _SAIL_FLTT
     // @DisplayName: Sail Heel Target filter frequency in Hz
     // @Description: Target filter frequency in Hz
+    // @Range: 0.000 100.000
+    // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
 
     // @Param: _SAIL_FLTE
     // @DisplayName: Sail Heel Error filter frequency in Hz
     // @Description: Error filter frequency in Hz
+    // @Range: 0.000 100.000
+    // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
 
     // @Param: _SAIL_FLTD
     // @DisplayName: Sail Heel Derivative term filter frequency in Hz
     // @Description: Derivative filter frequency in Hz
+    // @Range: 0.000 100.000
+    // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
     AP_SUBGROUPINFO(_sailboat_heel_pid, "_SAIL_", 12, AR_AttitudeControl, AC_PID),