diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 832dd32ac7..a715189458 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -561,10 +561,6 @@
 // Rate controller gains
 //
 
-#ifndef RATE_PID_DTERM_FILTER
- # define RATE_PID_DTERM_FILTER     20              // D-term filter rate cutoff frequency.  Used for Roll, Pitch and Yaw Rate PID controllers.
-#endif
-
 #ifndef RATE_ROLL_P
  # define RATE_ROLL_P        		0.150f
 #endif
@@ -702,11 +698,6 @@
  # define THROTTLE_ACCEL_IMAX 500
 #endif
 
-#ifndef THROTTLE_ACCEL_DTERM_FILTER
- # define THROTTLE_ACCEL_DTERM_FILTER 20
-#endif
-
-
 //////////////////////////////////////////////////////////////////////////////
 // Dataflash logging control
 //
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index e5804311b6..c5788dab9b 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -231,10 +231,6 @@ static void init_ardupilot()
     // initialise attitude and position controllers
     attitude_control.set_dt(MAIN_LOOP_SECONDS);
     pos_control.set_dt(MAIN_LOOP_SECONDS);
-    g.pid_rate_roll.set_d_lpf_alpha(RATE_PID_DTERM_FILTER, MAIN_LOOP_SECONDS);
-    g.pid_rate_pitch.set_d_lpf_alpha(RATE_PID_DTERM_FILTER, MAIN_LOOP_SECONDS);
-    g.pid_rate_yaw.set_d_lpf_alpha(RATE_PID_DTERM_FILTER, MAIN_LOOP_SECONDS);
-    g.pid_throttle_accel.set_d_lpf_alpha(THROTTLE_ACCEL_DTERM_FILTER, MAIN_LOOP_SECONDS);
 
     // init the optical flow sensor
     if(g.optflow_enabled) {