diff --git a/APMrover2/Parameters.pde b/APMrover2/Parameters.pde
index 6a68205f5b..f2d720df7b 100644
--- a/APMrover2/Parameters.pde
+++ b/APMrover2/Parameters.pde
@@ -511,4 +511,11 @@ static void load_parameters(void)
 
 	    cliSerial->printf_P(PSTR("load_all took %luus\n"), micros() - before);
 	}
+
+    // set a lower default filter frequency for rovers, due to very
+    // high vibration levels on rough surfaces
+    ins.set_default_filter(5);
+
+    // set a more reasonable default NAVL1_PERIOD for rovers
+    L1_controller.set_default_period(6);
 }
diff --git a/APMrover2/system.pde b/APMrover2/system.pde
index c6b6a758d8..d8541b71b1 100644
--- a/APMrover2/system.pde
+++ b/APMrover2/system.pde
@@ -395,10 +395,6 @@ static void startup_INS_ground(bool force_accel_level)
              ins_sample_rate, 
              flash_leds);
 
-    // set a lower default filter frequency for rovers, due to very
-    // high vibration levels on rough surfaces
-    ins.set_default_filter(5);
-
     if (force_accel_level) {
         // when MANUAL_LEVEL is set to 1 we don't do accelerometer
         // levelling on each boot, and instead rely on the user to do