diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index e1757fba32..b9c48d4e9a 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -387,6 +387,47 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Units: d%
     // @User: Advanced
 
+    // @Param: PITCH2SRV_ADV
+    // @DisplayName: Advanced Pitch parameters enable
+    // @Description: Advanced Pitch parameters enable
+    // @Values: 0:Disabled,1:Enabled
+    // @User: Advanced
+
+    // @Param: PITCH2SRV_D_FF
+    // @DisplayName: Pitch Derivative FeedForward Gain
+    // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
+    // @Range: 0.001 0.1
+    // @Increment: 0.001
+    // @User: Advanced
+
+    // @Param: PITCH2SRV_NTF
+    // @DisplayName: Pitch Target notch Filter center frequency
+    // @Description: Pitch Target notch Filter center frequency in Hz.
+    // @Range: 10 495
+    // @Units: Hz
+    // @User: Advanced
+
+    // @Param: PITCH2SRV_NEF
+    // @DisplayName: Pitch Error notch Filter center frequency
+    // @Description: Pitch Error notch Filter center frequency in Hz.
+    // @Range: 10 495
+    // @Units: Hz
+    // @User: Advanced
+
+    // @Param: PITCH2SRV_NBW
+    // @DisplayName: Pitch notch Filter bandwidth
+    // @Description: Pitch notch Filter bandwidth in Hz.
+    // @Range: 5 250
+    // @Units: Hz
+    // @User: Advanced
+
+    // @Param: PITCH2SRV_NATT
+    // @DisplayName: Pitch notch Filter attenuation
+    // @Description: Pitch notch Filter attenuation in dB.
+    // @Range: 5 50
+    // @Units: dB
+    // @User: Advanced
+
     GGROUP(pidPitch2Srv,       "PITCH2SRV_", AC_PID),
 
     // @Param: YAW2SRV_P
@@ -464,6 +505,47 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Units: d%
     // @User: Advanced
 
+    // @Param: YAW2SRV_ADV
+    // @DisplayName: Advanced Yaw parameters enable
+    // @Description: Advanced Yaw parameters enable
+    // @Values: 0:Disabled,1:Enabled
+    // @User: Advanced
+
+    // @Param: YAW2SRV_D_FF
+    // @DisplayName: Yaw Derivative FeedForward Gain
+    // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
+    // @Range: 0.001 0.1
+    // @Increment: 0.001
+    // @User: Advanced
+
+    // @Param: YAW2SRV_NTF
+    // @DisplayName: Yaw Target notch Filter center frequency
+    // @Description: Yaw Target notch Filter center frequency in Hz.
+    // @Range: 10 495
+    // @Units: Hz
+    // @User: Advanced
+
+    // @Param: YAW2SRV_NEF
+    // @DisplayName: Yaw Error notch Filter center frequency
+    // @Description: Yaw Error notch Filter center frequency in Hz.
+    // @Range: 10 495
+    // @Units: Hz
+    // @User: Advanced
+
+    // @Param: YAW2SRV_NBW
+    // @DisplayName: Yaw notch Filter bandwidth
+    // @Description: Yaw notch Filter bandwidth in Hz.
+    // @Range: 5 250
+    // @Units: Hz
+    // @User: Advanced
+
+    // @Param: YAW2SRV_NATT
+    // @DisplayName: Yaw notch Filter attenuation
+    // @Description: Yaw notch Filter attenuation in dB.
+    // @Range: 5 50
+    // @Units: dB
+    // @User: Advanced
+
     GGROUP(pidYaw2Srv,         "YAW2SRV_", AC_PID),
 
 #if AP_SCRIPTING_ENABLED
diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp
index f3284e985e..fbf3427c50 100644
--- a/AntennaTracker/Tracker.cpp
+++ b/AntennaTracker/Tracker.cpp
@@ -103,6 +103,8 @@ void Tracker::one_second_loop()
     set_likely_flying(hal.util->get_soft_armed());
 
     AP_Notify::flags.flying = hal.util->get_soft_armed();
+
+    g.pidYaw2Srv.set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
 }
 
 void Tracker::ten_hz_logging_loop()