diff --git a/libraries/APM_Control/AR_AttitudeControl.h b/libraries/APM_Control/AR_AttitudeControl.h
index c856c8aef1..57e78fdd72 100644
--- a/libraries/APM_Control/AR_AttitudeControl.h
+++ b/libraries/APM_Control/AR_AttitudeControl.h
@@ -9,17 +9,17 @@
 #define AR_ATTCONTROL_STEER_ANG_P       1.00f
 #define AR_ATTCONTROL_STEER_RATE_FF     0.20f
 #define AR_ATTCONTROL_STEER_RATE_P      0.20f
-#define AR_ATTCONTROL_STEER_RATE_I      0.50f
+#define AR_ATTCONTROL_STEER_RATE_I      0.20f
 #define AR_ATTCONTROL_STEER_RATE_IMAX   1.00f
 #define AR_ATTCONTROL_STEER_RATE_D      0.00f
-#define AR_ATTCONTROL_STEER_RATE_FILT   50.00f
+#define AR_ATTCONTROL_STEER_RATE_FILT   10.00f
 #define AR_ATTCONTROL_STEER_RATE_MAX    360.0f
 #define AR_ATTCONTROL_STEER_ACCEL_MAX   360.0f
 #define AR_ATTCONTROL_THR_SPEED_P       0.20f
 #define AR_ATTCONTROL_THR_SPEED_I       0.20f
 #define AR_ATTCONTROL_THR_SPEED_IMAX    1.00f
 #define AR_ATTCONTROL_THR_SPEED_D       0.00f
-#define AR_ATTCONTROL_THR_SPEED_FILT    50.00f
+#define AR_ATTCONTROL_THR_SPEED_FILT    10.00f
 #define AR_ATTCONTROL_DT                0.02f
 #define AR_ATTCONTROL_TIMEOUT_MS        200