diff --git a/libraries/AP_WheelEncoder/AP_WheelRateControl.cpp b/libraries/AP_WheelEncoder/AP_WheelRateControl.cpp
index 8c388d855c..8a1c3ce0a1 100644
--- a/libraries/AP_WheelEncoder/AP_WheelRateControl.cpp
+++ b/libraries/AP_WheelEncoder/AP_WheelRateControl.cpp
@@ -54,6 +54,30 @@ const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = {
     // @Range: 1.000 100.000
     // @Units: Hz
     // @User: Standard
+
+    // @Param: _RATE_FLTT
+    // @DisplayName: Wheel rate control target frequency in Hz
+    // @Description: Wheel rate control target frequency in Hz
+    // @Range: 1 50
+    // @Increment: 1
+    // @Units: Hz
+    // @User: Standard
+
+    // @Param: _RATE_FLTE
+    // @DisplayName: Wheel rate control error frequency in Hz
+    // @Description: Wheel rate control error frequency in Hz
+    // @Range: 1 50
+    // @Increment: 1
+    // @Units: Hz
+    // @User: Standard
+
+    // @Param: _RATE_FLTD
+    // @DisplayName: Wheel rate control derivative frequency in Hz
+    // @Description: Wheel rate control derivative frequency in Hz
+    // @Range: 1 50
+    // @Increment: 1
+    // @Units: Hz
+    // @User: Standard
     AP_SUBGROUPINFO(_rate_pid0, "_RATE_", 3, AP_WheelRateControl, AC_PID),
 
     // @Param: 2_RATE_FF
@@ -92,6 +116,31 @@ const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = {
     // @Range: 1.000 100.000
     // @Units: Hz
     // @User: Standard
+
+    // @Param: 2_RATE_FLTT
+    // @DisplayName: Wheel rate control target frequency in Hz
+    // @Description: Wheel rate control target frequency in Hz
+    // @Range: 1 50
+    // @Increment: 1
+    // @Units: Hz
+    // @User: Standard
+
+    // @Param: 2_RATE_FLTE
+    // @DisplayName: Wheel rate control error frequency in Hz
+    // @Description: Wheel rate control error frequency in Hz
+    // @Range: 1 50
+    // @Increment: 1
+    // @Units: Hz
+    // @User: Standard
+
+    // @Param: 2_RATE_FLTD
+    // @DisplayName: Wheel rate control derivative frequency in Hz
+    // @Description: Wheel rate control derivative frequency in Hz
+    // @Range: 1 50
+    // @Increment: 1
+    // @Units: Hz
+    // @User: Standard
+
     AP_SUBGROUPINFO(_rate_pid1, "2_RATE_", 4, AP_WheelRateControl, AC_PID),
 
     AP_GROUPEND