diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
index c9966cbefd91a..55359a1edb6fb 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
@@ -19,8 +19,8 @@
 #ifndef AC_ATC_MULTI_RATE_RP_IMAX
  # define AC_ATC_MULTI_RATE_RP_IMAX         0.5f
 #endif
-#ifndef AC_ATC_MULTI_RATE_RP_FILT_HZ
- # define AC_ATC_MULTI_RATE_RP_FILT_HZ      20.0f
+#ifndef AC_ATC_MULTI_RATE_RPY_FILT_HZ
+ # define AC_ATC_MULTI_RATE_RPY_FILT_HZ      20.0f
 #endif
 #ifndef AC_ATC_MULTI_RATE_YAW_P
  # define AC_ATC_MULTI_RATE_YAW_P           0.180f
@@ -106,9 +106,9 @@ class AC_AttitudeControl_Multi : public AC_AttitudeControl {
             .d         = AC_ATC_MULTI_RATE_RP_D,
             .ff        = 0.0f,
             .imax      = AC_ATC_MULTI_RATE_RP_IMAX,
-            .filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_T_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .filt_E_hz = 0.0f,
-            .filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_D_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .srmax     = 0,
             .srtau     = 1.0
         }
@@ -120,9 +120,9 @@ class AC_AttitudeControl_Multi : public AC_AttitudeControl {
             .d         = AC_ATC_MULTI_RATE_RP_D,
             .ff        = 0.0f,
             .imax      = AC_ATC_MULTI_RATE_RP_IMAX,
-            .filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_T_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .filt_E_hz = 0.0f,
-            .filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_D_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .srmax     = 0,
             .srtau     = 1.0
         }
@@ -135,9 +135,9 @@ class AC_AttitudeControl_Multi : public AC_AttitudeControl {
             .d         = AC_ATC_MULTI_RATE_YAW_D,
             .ff        = 0.0f,
             .imax      = AC_ATC_MULTI_RATE_YAW_IMAX,
-            .filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_T_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .filt_E_hz = AC_ATC_MULTI_RATE_YAW_FILT_HZ,
-            .filt_D_hz = 0.0f,
+            .filt_D_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .srmax     = 0,
             .srtau     = 1.0
         }
diff --git a/libraries/AC_CustomControl/AC_CustomControl_PID.cpp b/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
index 5535d44990940..f8d2d76780e56 100644
--- a/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
+++ b/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
@@ -321,9 +321,9 @@ AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_V
     _p_angle_roll2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_pitch2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_yaw2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
-    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f),
-    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f),
-    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f)
+    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f),
+    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f),
+    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f)
 {
     _dt = dt;
     AP_Param::setup_object_defaults(this, var_info);
diff --git a/libraries/AC_CustomControl/README.md b/libraries/AC_CustomControl/README.md
index f1cf85fa10ce4..2d2d4a892d135 100644
--- a/libraries/AC_CustomControl/README.md
+++ b/libraries/AC_CustomControl/README.md
@@ -243,9 +243,9 @@ AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl &frontend, AP_AHRS_V
     _p_angle_roll2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_pitch2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_yaw2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
-    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, dt),
-    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, dt),
-    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f, dt)
+    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, dt),
+    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, dt),
+    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f, dt)
 {
     AP_Param::setup_object_defaults(this, var_info);
 }