diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 13b98fb594..34cba7f962 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -560,6 +560,11 @@
 //////////////////////////////////////////////////////////////////////////////
 // Rate controller gains
 //
+
+#ifndef RATE_PID_DTERM_FILTER
+ # define RATE_PID_DTERM_FILTER     20              // D-term filter rate cutoff frequency.  Used for Roll, Pitch and Yaw Rate PID controllers.
+#endif
+
 #ifndef RATE_ROLL_P
  # define RATE_ROLL_P        		0.150f
 #endif
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index c5788dab9b..38608aeaf4 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -231,6 +231,9 @@ static void init_ardupilot()
     // initialise attitude and position controllers
     attitude_control.set_dt(MAIN_LOOP_SECONDS);
     pos_control.set_dt(MAIN_LOOP_SECONDS);
+    g.pid_rate_roll.set_d_lpf_alpha(RATE_PID_DTERM_FILTER, MAIN_LOOP_SECONDS);
+    g.pid_rate_pitch.set_d_lpf_alpha(RATE_PID_DTERM_FILTER, MAIN_LOOP_SECONDS);
+    g.pid_rate_yaw.set_d_lpf_alpha(RATE_PID_DTERM_FILTER, MAIN_LOOP_SECONDS);
 
     // init the optical flow sensor
     if(g.optflow_enabled) {