diff --git a/libraries/Filter/ModeFilter.cpp b/libraries/Filter/ModeFilter.cpp
new file mode 100644
index 0000000000..473f4cd21e
--- /dev/null
+++ b/libraries/Filter/ModeFilter.cpp
@@ -0,0 +1,100 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "ModeFilter.h"
+
+// Constructor
+template <class T, uint8_t FILTER_SIZE>
+ModeFilter<T,FILTER_SIZE>::ModeFilter(uint8_t return_element) :
+    FilterWithBuffer<T,FILTER_SIZE>(),
+    _return_element(return_element),
+    drop_high_sample(true)
+{
+    // ensure we have a valid return_nth_element value.  if not, revert to median
+    if ( _return_element >= FILTER_SIZE ) {
+        _return_element = FILTER_SIZE / 2;
+    }
+}
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+template <class T, uint8_t FILTER_SIZE>
+T ModeFilter<T,FILTER_SIZE>::apply(T sample)
+{
+    // insert the new items into the samples buffer
+    isort(sample, drop_high_sample);
+
+    // next time drop from the other end of the sample buffer
+    drop_high_sample = !drop_high_sample;
+
+    // return results
+    if (FilterWithBuffer<T,FILTER_SIZE>::sample_index < FILTER_SIZE ) {
+        // middle sample if buffer is not yet full
+        return _output = FilterWithBuffer<T,FILTER_SIZE>::samples[(FilterWithBuffer<T,FILTER_SIZE>::sample_index / 2)];
+    } else {
+        // return element specified by user in constructor
+        return _output = FilterWithBuffer<T,FILTER_SIZE>::samples[_return_element];
+    }
+}
+
+//
+// insertion sort - takes a new sample and pushes it into the sample array
+//                  drops either the highest or lowest sample depending on the 'drop_high_sample' parameter
+//
+template <class T, uint8_t FILTER_SIZE>
+void ModeFilter<T,FILTER_SIZE>::isort(T new_sample, bool drop_high)
+{
+    int8_t        i;
+
+    // if the buffer isn't full simply increase the #items in the buffer (i.e. sample_index)
+    // the rest is the same as dropping the high sample
+    if ( FilterWithBuffer<T,FILTER_SIZE>::sample_index < FILTER_SIZE ) {
+        FilterWithBuffer<T,FILTER_SIZE>::sample_index++;
+        drop_high = true;
+    }
+
+    if ( drop_high ) {     // drop highest sample from the buffer to make room for our new sample
+
+        // start from top. Note: sample_index always points to the next open space so we start from sample_index-1
+        i = FilterWithBuffer<T,FILTER_SIZE>::sample_index-1;
+
+        // if the next element is higher than our new sample, push it up one position
+        while (i > 0 && FilterWithBuffer<T,FILTER_SIZE>::samples[i-1] > new_sample) {
+            FilterWithBuffer<T,FILTER_SIZE>::samples[i] = FilterWithBuffer<T,FILTER_SIZE>::samples[i-1];
+            i--;
+        }
+
+        // add our new sample to the buffer
+        FilterWithBuffer<T,FILTER_SIZE>::samples[i] = new_sample;
+
+    } else {    // drop lowest sample from the buffer to make room for our new sample
+
+        // start from the bottom
+        i = 0;
+
+        // if the element is lower than our new sample, push it down one position
+        while ( FilterWithBuffer<T,FILTER_SIZE>::samples[i+1] < new_sample && i < FilterWithBuffer<T,FILTER_SIZE>::sample_index-1 ) {
+            FilterWithBuffer<T,FILTER_SIZE>::samples[i] = FilterWithBuffer<T,FILTER_SIZE>::samples[i+1];
+            i++;
+        }
+
+        // add our new sample to the buffer
+        FilterWithBuffer<T,FILTER_SIZE>::samples[i] = new_sample;
+    }
+}
+
+// instantiate required implementations
+template class ModeFilter<float,5>;
+template class ModeFilter<int16_t,5>;
diff --git a/libraries/Filter/ModeFilter.h b/libraries/Filter/ModeFilter.h
index bb3a4c0a6f..7c43f70212 100644
--- a/libraries/Filter/ModeFilter.h
+++ b/libraries/Filter/ModeFilter.h
@@ -71,83 +71,3 @@ typedef ModeFilter<float,4> ModeFilterFloat_Size4;
 typedef ModeFilter<float,5> ModeFilterFloat_Size5;
 typedef ModeFilter<float,6> ModeFilterFloat_Size6;
 typedef ModeFilter<float,7> ModeFilterFloat_Size7;
-
-// Constructor    //////////////////////////////////////////////////////////////
-
-template <class T, uint8_t FILTER_SIZE>
-ModeFilter<T,FILTER_SIZE>::ModeFilter(uint8_t return_element) :
-    FilterWithBuffer<T,FILTER_SIZE>(),
-    _return_element(return_element),
-    drop_high_sample(true)
-{
-    // ensure we have a valid return_nth_element value.  if not, revert to median
-    if( _return_element >= FILTER_SIZE )
-        _return_element = FILTER_SIZE / 2;
-};
-
-// Public Methods //////////////////////////////////////////////////////////////
-
-template <class T, uint8_t FILTER_SIZE>
-T ModeFilter<T,FILTER_SIZE>::        apply(T sample)
-{
-    // insert the new items into the samples buffer
-    isort(sample, drop_high_sample);
-
-    // next time drop from the other end of the sample buffer
-    drop_high_sample = !drop_high_sample;
-
-    // return results
-    if( FilterWithBuffer<T,FILTER_SIZE>::sample_index < FILTER_SIZE ) {
-        // middle sample if buffer is not yet full
-        return _output = FilterWithBuffer<T,FILTER_SIZE>::samples[(FilterWithBuffer<T,FILTER_SIZE>::sample_index / 2)];
-    }else{
-        // return element specified by user in constructor
-        return _output = FilterWithBuffer<T,FILTER_SIZE>::samples[_return_element];
-    }
-}
-
-//
-// insertion sort - takes a new sample and pushes it into the sample array
-//                  drops either the highest or lowest sample depending on the 'drop_high_sample' parameter
-//
-template <class T, uint8_t FILTER_SIZE>
-void ModeFilter<T,FILTER_SIZE>::        isort(T new_sample, bool drop_high)
-{
-    int8_t        i;
-
-    // if the buffer isn't full simply increase the #items in the buffer (i.e. sample_index)
-    // the rest is the same as dropping the high sample
-    if( FilterWithBuffer<T,FILTER_SIZE>::sample_index < FILTER_SIZE ) {
-        FilterWithBuffer<T,FILTER_SIZE>::sample_index++;
-        drop_high = true;
-    }
-
-    if( drop_high ) {      // drop highest sample from the buffer to make room for our new sample
-
-        // start from top. Note: sample_index always points to the next open space so we start from sample_index-1
-        i = FilterWithBuffer<T,FILTER_SIZE>::sample_index-1;
-
-        // if the next element is higher than our new sample, push it up one position
-        while(i > 0 && FilterWithBuffer<T,FILTER_SIZE>::samples[i-1] > new_sample) {
-            FilterWithBuffer<T,FILTER_SIZE>::samples[i] = FilterWithBuffer<T,FILTER_SIZE>::samples[i-1];
-            i--;
-        }
-
-        // add our new sample to the buffer
-        FilterWithBuffer<T,FILTER_SIZE>::samples[i] = new_sample;
-
-    }else{     // drop lowest sample from the buffer to make room for our new sample
-
-        // start from the bottom
-        i = 0;
-
-        // if the element is lower than our new sample, push it down one position
-        while( FilterWithBuffer<T,FILTER_SIZE>::samples[i+1] < new_sample && i < FilterWithBuffer<T,FILTER_SIZE>::sample_index-1 ) {
-            FilterWithBuffer<T,FILTER_SIZE>::samples[i] = FilterWithBuffer<T,FILTER_SIZE>::samples[i+1];
-            i++;
-        }
-
-        // add our new sample to the buffer
-        FilterWithBuffer<T,FILTER_SIZE>::samples[i] = new_sample;
-    }
-}