diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 39dbaa0cf4..47012cbb35 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1209,6 +1209,28 @@ void Copter::convert_pid_parameters(void)
     AP_Param::set_defaults_from_table(heli_defaults_table, ARRAY_SIZE(heli_defaults_table));
 #endif
 
+    // attitude control filter parameter changes (from _FILT to FLTE or FLTD) for Copter-3.7
+    const AP_Param::ConversionInfo ff_and_filt_conversion_info[] = {
+#if FRAME_CONFIG == HELI_FRAME
+        // tradheli moves ATC_RAT_RLL/PIT_FILT to FLTE, ATC_RAT_YAW_FILT to FLTE
+        { Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTE" },
+        { Parameters::k_param_attitude_control, 387, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTE" },
+        { Parameters::k_param_attitude_control, 388, AP_PARAM_FLOAT, "ATC_RAT_YAW_FLTE" },
+#else
+        // multicopters move ATC_RAT_RLL/PIT_FILT to FLTD, ATC_RAT_YAW_FILT to FLTE
+        { Parameters::k_param_attitude_control, 385, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTD" },
+        { Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTD" },
+        { Parameters::k_param_attitude_control, 387, AP_PARAM_FLOAT, "ATC_RAT_YAW_FLTE" },
+        { Parameters::k_param_attitude_control, 449, AP_PARAM_FLOAT, "ATC_RAT_RLL_FF" },
+        { Parameters::k_param_attitude_control, 450, AP_PARAM_FLOAT, "ATC_RAT_PIT_FF" },
+        { Parameters::k_param_attitude_control, 451, AP_PARAM_FLOAT, "ATC_RAT_YAW_FF" },
+#endif
+    };
+    uint8_t filt_table_size = ARRAY_SIZE(ff_and_filt_conversion_info);
+    for (uint8_t i=0; i<filt_table_size; i++) {
+        AP_Param::convert_old_parameters(&ff_and_filt_conversion_info[i], 1.0f);
+    }
+
     const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old,  Parameters::k_param_rc_2_old,
                                       Parameters::k_param_rc_3_old,  Parameters::k_param_rc_4_old,
                                       Parameters::k_param_rc_5_old,  Parameters::k_param_rc_6_old,
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 5334c70079..366b74ffa5 100755
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -580,7 +580,7 @@ void Copter::allocate_motors(void)
         attitude_control->get_rate_yaw_pid().kI().set_default(0.015);
         break;
     case AP_Motors::MOTOR_FRAME_TRI:
-        attitude_control->get_rate_yaw_pid().filt_hz().set_default(100);
+        attitude_control->get_rate_yaw_pid().filt_D_hz().set_default(100);
         break;
     default:
         break;
diff --git a/ArduCopter/tuning.cpp b/ArduCopter/tuning.cpp
index bb1c3d06b8..09bfede5ad 100644
--- a/ArduCopter/tuning.cpp
+++ b/ArduCopter/tuning.cpp
@@ -215,7 +215,7 @@ void Copter::tuning()
 #endif
 
      case TUNING_RATE_YAW_FILT:
-         attitude_control->get_rate_yaw_pid().filt_hz(tuning_value);
+         attitude_control->get_rate_yaw_pid().filt_E_hz(tuning_value);
          break;
 
 #if WINCH_ENABLED == ENABLED