diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index e1e7d5433a..fd25dfe16a 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -358,6 +358,7 @@ BUILD_OPTIONS = [
     Feature('Other', 'Buttons', 'HAL_BUTTON_ENABLED', 'Enable Buttons', 0, None),
     Feature('Other', 'Logging', 'HAL_LOGGING_ENABLED', 'Enable Logging', 0, None),
     Feature('Other', 'CUSTOM_ROTATIONS', 'AP_CUSTOMROTATIONS_ENABLED', 'Enable Custom  sensor rotations', 0, None),
+    Feature('Other', 'PID_FILTERING', 'AP_FILTER_ENABLED', 'Enable PID filtering', 0, None),
 
     # MAVLink section for mavlink features and/or message handling,
     # rather than for e.g. mavlink-based sensor drivers
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index 1a145dcc22..2e297b9147 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -284,6 +284,7 @@ class ExtractFeatures(object):
             ('AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED', r'GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands'),
             ('AP_SERIALMANAGER_REGISTER_ENABLED', r'AP_SerialManager::register_port'),
             ('AP_QUICKTUNE_ENABLED', r'AP_Quicktune::update'),
+            ('AP_FILTER_ENABLED', r'AP_Filters::update'),
         ]
 
     def progress(self, msg):