diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index 3f6d22e562..da70334996 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -201,34 +201,48 @@ float AC_PID::update_all(float target, float measurement, float dt, bool limit,
     _pid_info.reset = _flags._reset_filter;
     if (_flags._reset_filter) {
         _flags._reset_filter = false;
+
+        // Reset target filter
         _target = target;
-        _error = _target - measurement;
-        _derivative = 0.0f;
-        _target_derivative = 0.0f;
 #if AP_FILTER_ENABLED
         if (_target_notch != nullptr) {
             _target_notch->reset();
             _target = _target_notch->apply(_target);
         }
+#endif
+
+        // Calculate error and reset error filter
+        _error = _target - measurement;
+#if AP_FILTER_ENABLED
         if (_error_notch != nullptr) {
             _error_notch->reset();
             _error = _error_notch->apply(_error);
         }
 #endif
+        // Zero derivatives
+        _derivative = 0.0f;
+        _target_derivative = 0.0f;
+
     } else {
-        float error_last = _error;
-        float target_last = _target;
-        float error = _target - measurement;
+
+        // Apply target filters
+        const float target_last = _target;
 #if AP_FILTER_ENABLED
         // apply notch filters before FTLD/FLTE to avoid shot noise
         if (_target_notch != nullptr) {
             target = _target_notch->apply(target);
         }
+#endif
+        _target += get_filt_T_alpha(dt) * (target - _target);
+
+        // Calculate error and apply error filter
+        const float error_last = _error;
+        float error = _target - measurement;
+#if AP_FILTER_ENABLED
         if (_error_notch != nullptr) {
             error = _error_notch->apply(error);
         }
 #endif
-        _target += get_filt_T_alpha(dt) * (target - _target);
         _error += get_filt_E_alpha(dt) * (error - _error);
 
         // calculate and filter derivative