diff --git a/libraries/AP_InertialNav/AP_InertialNav.h b/libraries/AP_InertialNav/AP_InertialNav.h
index 3530e42bed..c00016e397 100644
--- a/libraries/AP_InertialNav/AP_InertialNav.h
+++ b/libraries/AP_InertialNav/AP_InertialNav.h
@@ -10,7 +10,7 @@
 
 #define AP_INTERTIALNAV_GRAVITY 9.80665
 #define AP_INTERTIALNAV_TC_XY   3.0 // default time constant for complementary filter's X & Y axis
-#define AP_INTERTIALNAV_TC_Z    3.0 // default time constant for complementary filter's Z axis
+#define AP_INTERTIALNAV_TC_Z    7.0 // default time constant for complementary filter's Z axis
 
 // #defines to control how often historical accel based positions are saved
 // so they can later be compared to laggy gps readings