diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
index 684cb327e9..25b5fa97c0 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
@@ -67,12 +67,8 @@ AP_InertialSensor_Flymaple::AP_InertialSensor_Flymaple(AP_InertialSensor &imu) :
     AP_InertialSensor_Backend(imu),
     _have_gyro_sample(false),
     _have_accel_sample(false),
-    _accel_filter_x(raw_sample_rate_hz, 10),
-    _accel_filter_y(raw_sample_rate_hz, 10),
-    _accel_filter_z(raw_sample_rate_hz, 10),
-    _gyro_filter_x(raw_sample_rate_hz, 10),
-    _gyro_filter_y(raw_sample_rate_hz, 10),
-    _gyro_filter_z(raw_sample_rate_hz, 10),
+    _accel_filter(raw_sample_rate_hz, 10),
+    _gyro_filter(raw_sample_rate_hz, 10),
     _last_gyro_timestamp(0),
     _last_accel_timestamp(0)
 {}
@@ -167,12 +163,8 @@ void AP_InertialSensor_Flymaple::_set_filter_frequency(uint8_t filter_hz)
     if (filter_hz == 0)
         filter_hz = _default_filter_hz;
 
-    _accel_filter_x.set_cutoff_frequency(raw_sample_rate_hz, filter_hz);
-    _accel_filter_y.set_cutoff_frequency(raw_sample_rate_hz, filter_hz);
-    _accel_filter_z.set_cutoff_frequency(raw_sample_rate_hz, filter_hz);
-    _gyro_filter_x.set_cutoff_frequency(raw_sample_rate_hz, filter_hz);
-    _gyro_filter_y.set_cutoff_frequency(raw_sample_rate_hz, filter_hz);
-    _gyro_filter_z.set_cutoff_frequency(raw_sample_rate_hz, filter_hz);
+    _accel_filter.set_cutoff_frequency(raw_sample_rate_hz, filter_hz);
+    _gyro_filter.set_cutoff_frequency(raw_sample_rate_hz, filter_hz);
 }
 
 
@@ -239,9 +231,7 @@ void AP_InertialSensor_Flymaple::_accumulate(void)
         int16_t y = -((((int16_t)buffer[1]) << 8) | buffer[0]);    // chip X axis
         int16_t x = -((((int16_t)buffer[3]) << 8) | buffer[2]);    // chip Y axis
         int16_t z = -((((int16_t)buffer[5]) << 8) | buffer[4]);    // chip Z axis
-        _accel_filtered = Vector3f(_accel_filter_x.apply(x),
-                                   _accel_filter_y.apply(y),
-                                   _accel_filter_z.apply(z));
+        _accel_filtered = _accel_filter.apply(Vector3f(x,y,z));
         _have_accel_sample = true;
         _last_accel_timestamp = now;
     }
@@ -256,9 +246,7 @@ void AP_InertialSensor_Flymaple::_accumulate(void)
         int16_t y = -((((int16_t)buffer[0]) << 8) | buffer[1]);    // chip X axis
         int16_t x = -((((int16_t)buffer[2]) << 8) | buffer[3]);    // chip Y axis
         int16_t z = -((((int16_t)buffer[4]) << 8) | buffer[5]);    // chip Z axis
-        _gyro_filtered = Vector3f(_gyro_filter_x.apply(x),
-                                  _gyro_filter_y.apply(y),
-                                  _gyro_filter_z.apply(z));
+        _gyro_filtered = _gyro_filter.apply(Vector3f(x,y,z));
         _have_gyro_sample = true;
         _last_gyro_timestamp = now;
     }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h
index 724e03dbb4..9402b7be6c 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h
@@ -38,12 +38,8 @@ private:
 
     void _set_filter_frequency(uint8_t filter_hz);
     // Low Pass filters for gyro and accel 
-    LowPassFilter2p _accel_filter_x;
-    LowPassFilter2p _accel_filter_y;
-    LowPassFilter2p _accel_filter_z;
-    LowPassFilter2p _gyro_filter_x;
-    LowPassFilter2p _gyro_filter_y;
-    LowPassFilter2p _gyro_filter_z;
+    LowPassFilter2pVector3f _accel_filter;
+    LowPassFilter2pVector3f _gyro_filter;
 
     uint8_t _gyro_instance;
     uint8_t _accel_instance;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
index e1e4c5ce25..f1c758b282 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
@@ -115,12 +115,8 @@ AP_InertialSensor_L3G4200D::AP_InertialSensor_L3G4200D(AP_InertialSensor &imu) :
     AP_InertialSensor_Backend(imu),
     _have_gyro_sample(false),
     _have_accel_sample(false),
-    _accel_filter_x(800, 10),
-    _accel_filter_y(800, 10),
-    _accel_filter_z(800, 10),
-    _gyro_filter_x(800, 10),
-    _gyro_filter_y(800, 10),
-    _gyro_filter_z(800, 10)
+    _accel_filter(800, 10),
+    _gyro_filter(800, 10),
 {}
 
 bool AP_InertialSensor_L3G4200D::_init_sensor(void) 
@@ -235,12 +231,8 @@ void AP_InertialSensor_L3G4200D::_set_filter_frequency(uint8_t filter_hz)
     if (filter_hz == 0)
         filter_hz = _default_filter_hz;
 
-    _accel_filter_x.set_cutoff_frequency(800, filter_hz);
-    _accel_filter_y.set_cutoff_frequency(800, filter_hz);
-    _accel_filter_z.set_cutoff_frequency(800, filter_hz);
-    _gyro_filter_x.set_cutoff_frequency(800, filter_hz);
-    _gyro_filter_y.set_cutoff_frequency(800, filter_hz);
-    _gyro_filter_z.set_cutoff_frequency(800, filter_hz);
+    _accel_filter.set_cutoff_frequency(800, filter_hz);
+    _gyro_filter.set_cutoff_frequency(800, filter_hz);
 }
 
 /*
@@ -308,9 +300,7 @@ void AP_InertialSensor_L3G4200D::_accumulate(void)
         if (hal.i2c->readRegisters(L3G4200D_I2C_ADDRESS, L3G4200D_REG_XL | L3G4200D_REG_AUTO_INCREMENT, 
                                    sizeof(buffer), (uint8_t *)&buffer[0][0]) == 0) {
             for (uint8_t i=0; i<num_samples_available; i++) {
-                _gyro_filtered = Vector3f(_gyro_filter_x.apply(buffer[i][0]), 
-                                          _gyro_filter_y.apply(-buffer[i][1]), 
-                                          _gyro_filter_z.apply(-buffer[i][2]));
+                _gyro_filtered = _gyro_filter.apply(Vector3f(buffer[i][0], -buffer[i][1], -buffer[i][2]));
                 _have_gyro_sample = true;
             }
         }
@@ -330,9 +320,7 @@ void AP_InertialSensor_L3G4200D::_accumulate(void)
                                            sizeof(buffer[0]), num_samples_available,
                                            (uint8_t *)&buffer[0][0]) == 0) {
             for (uint8_t i=0; i<num_samples_available; i++) {
-                _accel_filtered = Vector3f(_accel_filter_x.apply(buffer[i][0]),
-                                           _accel_filter_y.apply(-buffer[i][1]),
-                                           _accel_filter_z.apply(-buffer[i][2]));
+                _accel_filtered = _accel_filter.apply(Vector3f(buffer[i][0], -buffer[i][1], -buffer[i][2]));
                 _have_accel_sample = true;
             }
         }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h
index 674dc87c15..8549365389 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h
@@ -43,12 +43,8 @@ private:
     void _set_filter_frequency(uint8_t filter_hz);
 
     // Low Pass filters for gyro and accel 
-    LowPassFilter2p _accel_filter_x;
-    LowPassFilter2p _accel_filter_y;
-    LowPassFilter2p _accel_filter_z;
-    LowPassFilter2p _gyro_filter_x;
-    LowPassFilter2p _gyro_filter_y;
-    LowPassFilter2p _gyro_filter_z;
+    LowPassFilter2pVector3f _accel_filter;
+    LowPassFilter2pVector3f _gyro_filter;
 
     // gyro and accel instances
     uint8_t _gyro_instance;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 849851fb88..7336419854 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -181,12 +181,8 @@ AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000(AP_InertialSensor &imu) :
     _last_filter_hz(0),
     _error_count(0),
 #if MPU6000_FAST_SAMPLING
-    _accel_filter_x(1000, 15),
-    _accel_filter_y(1000, 15),
-    _accel_filter_z(1000, 15),
-    _gyro_filter_x(1000, 15),
-    _gyro_filter_y(1000, 15),
-    _gyro_filter_z(1000, 15),    
+    _accel_filter(1000, 15),
+    _gyro_filter(1000, 15),
 #else
     _sample_count(0),
     _accel_sum(),
@@ -376,13 +372,13 @@ void AP_InertialSensor_MPU6000::_read_data_transaction() {
 
 #define int16_val(v, idx) ((int16_t)(((uint16_t)v[2*idx] << 8) | v[2*idx+1]))
 #if MPU6000_FAST_SAMPLING
-    _accel_filtered = Vector3f(_accel_filter_x.apply(int16_val(rx.v, 1)), 
-                               _accel_filter_y.apply(int16_val(rx.v, 0)), 
-                               _accel_filter_z.apply(-int16_val(rx.v, 2)));
+    _accel_filtered = _accel_filter.apply(Vector3f(int16_val(rx.v, 1),
+                                                   int16_val(rx.v, 0),
+                                                   -int16_val(rx.v, 2)));
 
-    _gyro_filtered = Vector3f(_gyro_filter_x.apply(int16_val(rx.v, 5)), 
-                              _gyro_filter_y.apply(int16_val(rx.v, 4)), 
-                              _gyro_filter_z.apply(-int16_val(rx.v, 6)));
+    _gyro_filtered = _gyro_filter.apply(Vector3f(int16_val(rx.v, 5),
+                                                 int16_val(rx.v, 4),
+                                                 -int16_val(rx.v, 6)));
 #else
     _accel_sum.x += int16_val(rx.v, 1);
     _accel_sum.y += int16_val(rx.v, 0);
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
index 3fa58d04c1..42f6dcfa69 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
@@ -80,12 +80,8 @@ private:
     Vector3f _gyro_filtered;
 
     // Low Pass filters for gyro and accel 
-    LowPassFilter2p _accel_filter_x;
-    LowPassFilter2p _accel_filter_y;
-    LowPassFilter2p _accel_filter_z;
-    LowPassFilter2p _gyro_filter_x;
-    LowPassFilter2p _gyro_filter_y;
-    LowPassFilter2p _gyro_filter_z;
+    LowPassFilter2pVector3f _accel_filter;
+    LowPassFilter2pVector3f _gyro_filter;
 #else
     // accumulation in timer - must be read with timer disabled
     // the sum of the values since last read
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
index 95130f12eb..d941deb105 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
@@ -327,12 +327,8 @@ static struct gyro_state_s st = {
 AP_InertialSensor_MPU9150::AP_InertialSensor_MPU9150(AP_InertialSensor &imu) :
     AP_InertialSensor_Backend(imu),
     _have_sample_available(false),
-    _accel_filter_x(800, 10),
-    _accel_filter_y(800, 10),
-    _accel_filter_z(800, 10),
-    _gyro_filter_x(800, 10),
-    _gyro_filter_y(800, 10),
-    _gyro_filter_z(800, 10)
+    _accel_filter(800, 10),
+    _gyro_filter(800, 10),
 {
 }
 
@@ -361,12 +357,8 @@ void AP_InertialSensor_MPU9150::_set_filter_frequency(uint8_t filter_hz)
     if (filter_hz == 0)
         filter_hz = _default_filter_hz;
 
-    _accel_filter_x.set_cutoff_frequency(800, filter_hz);
-    _accel_filter_y.set_cutoff_frequency(800, filter_hz);
-    _accel_filter_z.set_cutoff_frequency(800, filter_hz);
-    _gyro_filter_x.set_cutoff_frequency(800, filter_hz);
-    _gyro_filter_y.set_cutoff_frequency(800, filter_hz);
-    _gyro_filter_z.set_cutoff_frequency(800, filter_hz);
+    _accel_filter.set_cutoff_frequency(800, filter_hz);
+    _gyro_filter.set_cutoff_frequency(800, filter_hz);
 }
 
 /**
@@ -1087,15 +1079,9 @@ void AP_InertialSensor_MPU9150::_accumulate(void)
 
         // TODO Revisit why AP_InertialSensor_L3G4200D uses a minus sign in the y and z component. Maybe this
         //  is because the sensor is placed in the bottom side of the board?
-        _accel_filtered = Vector3f(
-            _accel_filter_x.apply(accel_x), 
-            _accel_filter_y.apply(accel_y), 
-            _accel_filter_z.apply(accel_z));
-        
-        _gyro_filtered = Vector3f(
-            _gyro_filter_x.apply(gyro_x), 
-            _gyro_filter_y.apply(gyro_y), 
-            _gyro_filter_z.apply(gyro_z));
+        _accel_filtered = _accel_filter.apply(Vector3f(accel_x, accel_y, accel_z));
+
+        _gyro_filtered = _gyro_filter.apply(Vector3f(gyro_x, gyro_y, gyro_z));
 
         _have_sample_available = true;
     }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h
index 52de4f9d71..e72fa7d762 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h
@@ -52,12 +52,8 @@ private:
     void _set_filter_frequency(uint8_t filter_hz);
 
     // Low Pass filters for gyro and accel 
-    LowPassFilter2p _accel_filter_x;
-    LowPassFilter2p _accel_filter_y;
-    LowPassFilter2p _accel_filter_z;
-    LowPassFilter2p _gyro_filter_x;
-    LowPassFilter2p _gyro_filter_y;
-    LowPassFilter2p _gyro_filter_z;
+    LowPassFilter2pVector3f _accel_filter;
+    LowPassFilter2pVector3f _gyro_filter;
 
     uint8_t _gyro_instance;
     uint8_t _accel_instance;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
index 3fb4ffab81..421b0c27c0 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@@ -175,12 +175,8 @@ AP_InertialSensor_MPU9250::AP_InertialSensor_MPU9250(AP_InertialSensor &imu) :
 	AP_InertialSensor_Backend(imu),
     _last_filter_hz(-1),
     _shared_data_idx(0),
-    _accel_filter_x(1000, 15),
-    _accel_filter_y(1000, 15),
-    _accel_filter_z(1000, 15),
-    _gyro_filter_x(1000, 15),
-    _gyro_filter_y(1000, 15),
-    _gyro_filter_z(1000, 15),
+    _accel_filter(1000, 15),
+    _gyro_filter(1000, 15),
     _have_sample_available(false)
 {
 }
@@ -341,13 +337,13 @@ void AP_InertialSensor_MPU9250::_read_data_transaction()
 
 #define int16_val(v, idx) ((int16_t)(((uint16_t)v[2*idx] << 8) | v[2*idx+1]))
 
-    Vector3f _accel_filtered = Vector3f(_accel_filter_x.apply(int16_val(rx.v, 1)), 
-                                        _accel_filter_y.apply(int16_val(rx.v, 0)), 
-                                        _accel_filter_z.apply(-int16_val(rx.v, 2)));
+    Vector3f _accel_filtered = _accel_filter.apply(Vector3f(int16_val(rx.v, 1),
+                                                   int16_val(rx.v, 0),
+                                                   -int16_val(rx.v, 2)));
 
-    Vector3f _gyro_filtered = Vector3f(_gyro_filter_x.apply(int16_val(rx.v, 5)), 
-                                       _gyro_filter_y.apply(int16_val(rx.v, 4)), 
-                                       _gyro_filter_z.apply(-int16_val(rx.v, 6)));
+    Vector3f _gyro_filtered = _gyro_filter.apply(Vector3f(int16_val(rx.v, 5),
+                                                 int16_val(rx.v, 4),
+                                                 -int16_val(rx.v, 6)));
     // update the shared buffer
     uint8_t idx = _shared_data_idx ^ 1;
     _shared_data[idx]._accel_filtered = _accel_filtered;
@@ -395,13 +391,9 @@ void AP_InertialSensor_MPU9250::_set_filter(uint8_t filter_hz)
         filter_hz = _default_filter_hz;
     }
 
-    _accel_filter_x.set_cutoff_frequency(1000, filter_hz);
-    _accel_filter_y.set_cutoff_frequency(1000, filter_hz);
-    _accel_filter_z.set_cutoff_frequency(1000, filter_hz);
+    _accel_filter.set_cutoff_frequency(1000, filter_hz);
 
-    _gyro_filter_x.set_cutoff_frequency(1000, filter_hz);
-    _gyro_filter_y.set_cutoff_frequency(1000, filter_hz);
-    _gyro_filter_z.set_cutoff_frequency(1000, filter_hz);    
+    _gyro_filter.set_cutoff_frequency(1000, filter_hz);
 }
 
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
index 1ce5b1a67f..3585631861 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
@@ -60,12 +60,8 @@ private:
     volatile uint8_t _shared_data_idx;
 
     // Low Pass filters for gyro and accel 
-    LowPassFilter2p _accel_filter_x;
-    LowPassFilter2p _accel_filter_y;
-    LowPassFilter2p _accel_filter_z;
-    LowPassFilter2p _gyro_filter_x;
-    LowPassFilter2p _gyro_filter_y;
-    LowPassFilter2p _gyro_filter_z;
+    LowPassFilter2pVector3f _accel_filter;
+    LowPassFilter2pVector3f _gyro_filter;
 
     // do we currently have a sample pending?
     bool _have_sample_available;