diff --git a/ArduCopter/control_autotune.pde b/ArduCopter/control_autotune.pde
index 8f2e512488..fa1eecaab4 100644
--- a/ArduCopter/control_autotune.pde
+++ b/ArduCopter/control_autotune.pde
@@ -59,7 +59,7 @@
 #define AUTOTUNE_YAW_PI_RATIO_FINAL        0.1f     // I is set 1x P after testing
 #define AUTOTUNE_RD_MIN                  0.002f     // minimum Rate D value
 #define AUTOTUNE_RD_MAX                  0.050f     // maximum Rate D value
-#define AUTOTUNE_RLPF_MIN                  0.1f     // minimum Rate Yaw filter value
+#define AUTOTUNE_RLPF_MIN                  1.0f     // minimum Rate Yaw filter value
 #define AUTOTUNE_RLPF_MAX                 10.0f     // maximum Rate Yaw filter value
 #define AUTOTUNE_RP_MIN                   0.01f     // minimum Rate P value
 #define AUTOTUNE_RP_MAX                    5.0f     // maximum Rate P value