diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index 9c7c281ed0..71cf2f515e 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -591,7 +591,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = {
     // @Param: HRT_FILT
     // @DisplayName: Height rate filter crossover frequency
     // @Description: Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.
-    // @Range: 0.1 100.0
+    // @Range: 0.1 30.0
     // @Units: Hz
     // @RebootRequired: False
     AP_GROUPINFO("HRT_FILT", 55, NavEKF3, _hrt_filt_freq, 2.0f),
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index fe80fe062d..30acc09497 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -767,7 +767,7 @@ void NavEKF3_core::calcOutputStates()
 
     // Perform filter calculation using backwards Euler integration
     // Coefficients selected to place all three filter poles at omega
-    const float CompFiltOmega = M_2PI * constrain_float(frontend->_hrt_filt_freq, 0.1f, 100.0f);
+    const float CompFiltOmega = M_2PI * constrain_float(frontend->_hrt_filt_freq, 0.1f, 30.0f);
     float omega2 = CompFiltOmega * CompFiltOmega;
     float pos_err = outputDataNew.position.z - vertCompFiltState.pos;
     float integ1_input = pos_err * omega2 * CompFiltOmega * imuDataNew.delVelDT;