diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
index 9d2e9c5729..85e4b76fbc 100644
--- a/libraries/APM_Control/AP_PitchController.cpp
+++ b/libraries/APM_Control/AP_PitchController.cpp
@@ -307,8 +307,8 @@ int32_t AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool
 	float rate_offset;
 	bool inverted;
 
-    if (gains.tau < 0.1f) {
-        gains.tau.set(0.1f);
+    if (gains.tau < 0.01f) {
+        gains.tau.set(0.01f);
     }
 
     rate_offset = _get_coordination_rate_offset(aspeed, inverted);
diff --git a/libraries/APM_Control/AP_RollController.cpp b/libraries/APM_Control/AP_RollController.cpp
index e67ba76acc..408c9f7edb 100644
--- a/libraries/APM_Control/AP_RollController.cpp
+++ b/libraries/APM_Control/AP_RollController.cpp
@@ -221,8 +221,8 @@ int32_t AP_RollController::get_rate_out(float desired_rate, float scaler)
 */
 int32_t AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool disable_integrator)
 {
-    if (gains.tau < 0.1f) {
-        gains.tau.set(0.1f);
+    if (gains.tau < 0.01f) {
+        gains.tau.set(0.01f);
     }
 	
 	// Calculate the desired roll rate (deg/sec) from the angle error