diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 9bf12b4e1b..15e820a20a 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -575,12 +575,12 @@ bool AP_InertialSensor_MPU6000::hardware_init(Sample_rate sample_rate)
         _sample_shift = 2;
         break;
     case RATE_100HZ:
-        default_filter = BITS_DLPF_CFG_42HZ;
+        default_filter = BITS_DLPF_CFG_20HZ;
         _sample_shift = 1;
         break;
     case RATE_200HZ:
     default:
-        default_filter = BITS_DLPF_CFG_42HZ;
+        default_filter = BITS_DLPF_CFG_20HZ;
         _sample_shift = 0;
         break;
     }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
index 13226d9660..4fa26dec18 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
@@ -33,12 +33,12 @@ uint16_t AP_InertialSensor_PX4::_init_sensor( Sample_rate sample_rate )
         break;
     case RATE_100HZ:
         _sample_divider = 2;
-        _default_filter_hz = 42;
+        _default_filter_hz = 20;
         break;
     case RATE_200HZ:
     default:
         _sample_divider = 1;
-        _default_filter_hz = 42;
+        _default_filter_hz = 20;
         break;
     }