diff --git a/libraries/AC_PrecLand/AC_PrecLand.cpp b/libraries/AC_PrecLand/AC_PrecLand.cpp
index 9e0dba63b4..90fb0cb845 100644
--- a/libraries/AC_PrecLand/AC_PrecLand.cpp
+++ b/libraries/AC_PrecLand/AC_PrecLand.cpp
@@ -28,6 +28,26 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SPEED",   2, AC_PrecLand, _speed_xy, AC_PRECLAND_SPEED_XY_DEFAULT),
 
+     // @Param: VEL_P
+     // @DisplayName: Precision landing velocity controller P gain
+     // @Description: Precision landing velocity controller P gain
+     // @Range: 0.100 5.000
+     // @User: Advanced
+
+     // @Param: VEL_I
+     // @DisplayName: Precision landing velocity controller I gain
+     // @Description: Precision landing velocity controller I gain
+     // @Range: 0.100 5.000
+     // @User: Advanced
+
+     // @Param: VEL_IMAX
+     // @DisplayName: Precision landing velocity controller I gain maximum
+     // @Description: Precision landing velocity controller I gain maximum
+     // @Range: 0 1000
+     // @Units: cm/s
+     // @User: Standard
+     AP_SUBGROUPINFO(_pi_vel_xy, "VEL_", 3, AC_PrecLand, AC_PI_2D),
+
     AP_GROUPEND
 };
 
@@ -35,11 +55,10 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
 // Note that the Vector/Matrix constructors already implicitly zero
 // their values.
 //
-AC_PrecLand::AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav,
-                         AC_PI_2D& pi_precland_xy, float dt) :
+AC_PrecLand::AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav, float dt) :
     _ahrs(ahrs),
     _inav(inav),
-    _pi_precland_xy(pi_precland_xy),
+    _pi_vel_xy(PRECLAND_P, PRECLAND_I, PRECLAND_IMAX, PRECLAND_FILT_HZ, dt),
     _dt(dt),
     _have_estimate(false),
     _backend(NULL)
diff --git a/libraries/AC_PrecLand/AC_PrecLand.h b/libraries/AC_PrecLand/AC_PrecLand.h
index 4650928831..1b3d627a31 100644
--- a/libraries/AC_PrecLand/AC_PrecLand.h
+++ b/libraries/AC_PrecLand/AC_PrecLand.h
@@ -12,6 +12,7 @@
 #define PRECLAND_P                              2.0f    // velocity controller P gain default
 #define PRECLAND_I                              1.0f    // velocity controller I gain default
 #define PRECLAND_IMAX                         500.0f    // velocity controller IMAX default
+#define PRECLAND_FILT_HZ                        5.0f    // velocity controller filter hz
 #define PRECLAND_UPDATE_TIME                    0.02f   // precland runs at 50hz
 
 // declare backend classes
@@ -43,7 +44,7 @@ public:
     };
 
     // Constructor
-    AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav, AC_PI_2D& pi_precland_xy, float dt);
+    AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav, float dt);
 
     // init - perform any required initialisation of landing controllers
     void init();
@@ -83,7 +84,7 @@ private:
     // references to inertial nav and ahrs libraries
     const AP_AHRS&              _ahrs;
     const AP_InertialNav&       _inav;
-    AC_PI_2D&                   _pi_precland_xy;    // horizontal velocity PI controller
+    AC_PI_2D                    _pi_vel_xy;         // horizontal velocity PI controller
 
     // parameters
     AP_Int8                     _enabled;           // enabled/disabled and behaviour