diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index d7e67518ce..d1b02410f6 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -526,8 +526,8 @@ int32_t pitch_axis;
 AverageFilterInt32_Size3 roll_rate_d_filter;	// filtered acceleration
 AverageFilterInt32_Size3 pitch_rate_d_filter;	// filtered pitch acceleration
 
-AverageFilterInt16_Size3 lat_rate_d_filter;		// for filtering D term
-AverageFilterInt16_Size3 lon_rate_d_filter;		// for filtering D term
+AverageFilterInt16_Size5 lat_rate_d_filter;		// for filtering D term
+AverageFilterInt16_Size5 lon_rate_d_filter;		// for filtering D term
 
 // Barometer filter
 AverageFilterInt32_Size5 baro_filter;	// filtered pitch acceleration