diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index b2c5e31e1c..4ac5ff707b 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -42,7 +42,7 @@ extern const AP_HAL::HAL& hal;
 #define DEFAULT_ACCEL_FILTER 20
 #define DEFAULT_STILL_THRESH 2.5f
 #elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
-#define DEFAULT_GYRO_FILTER  10
+#define DEFAULT_GYRO_FILTER  4
 #define DEFAULT_ACCEL_FILTER 10
 #define DEFAULT_STILL_THRESH 0.1f
 #else