diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp
index fbfaad5632..23e7775eab 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune.cpp
@@ -529,7 +529,7 @@ void AC_AutoTune::control_attitude()
             abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD;
             start_rate = ToDeg(ahrs_view->get_gyro().x) * 100.0f;
             start_angle = ahrs_view->roll_sensor;
-            rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_roll_pid().filt_hz()*2.0f);
+            rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_roll_pid().filt_D_hz()*2.0f);
             break;
         case PITCH:
             target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
@@ -538,7 +538,7 @@ void AC_AutoTune::control_attitude()
             abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD;
             start_rate = ToDeg(ahrs_view->get_gyro().y) * 100.0f;
             start_angle = ahrs_view->pitch_sensor;
-            rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_pitch_pid().filt_hz()*2.0f);
+            rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_pitch_pid().filt_D_hz()*2.0f);
             break;
         case YAW:
             target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_YAW_CDS);
@@ -946,11 +946,11 @@ void AC_AutoTune::backup_gains_and_initialise()
     orig_yaw_ri = attitude_control->get_rate_yaw_pid().kI();
     orig_yaw_rd = attitude_control->get_rate_yaw_pid().kD();
     orig_yaw_rff = attitude_control->get_rate_yaw_pid().ff();
-    orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_hz();
+    orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_E_hz();
     orig_yaw_accel = attitude_control->get_accel_yaw_max();
     orig_yaw_sp = attitude_control->get_angle_yaw_p().kP();
     tune_yaw_rp = attitude_control->get_rate_yaw_pid().kP();
-    tune_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_hz();
+    tune_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_E_hz();
     tune_yaw_sp = attitude_control->get_angle_yaw_p().kP();
     tune_yaw_accel = attitude_control->get_accel_yaw_max();
 
@@ -988,7 +988,7 @@ void AC_AutoTune::load_orig_gains()
             attitude_control->get_rate_yaw_pid().kI(orig_yaw_ri);
             attitude_control->get_rate_yaw_pid().kD(orig_yaw_rd);
             attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
-            attitude_control->get_rate_yaw_pid().filt_hz(orig_yaw_rLPF);
+            attitude_control->get_rate_yaw_pid().filt_E_hz(orig_yaw_rLPF);
             attitude_control->get_angle_yaw_p().kP(orig_yaw_sp);
             attitude_control->set_accel_yaw_max(orig_yaw_accel);
         }
@@ -1029,7 +1029,7 @@ void AC_AutoTune::load_tuned_gains()
             attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL);
             attitude_control->get_rate_yaw_pid().kD(0.0f);
             attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
-            attitude_control->get_rate_yaw_pid().filt_hz(tune_yaw_rLPF);
+            attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF);
             attitude_control->get_angle_yaw_p().kP(tune_yaw_sp);
             attitude_control->set_accel_yaw_max(tune_yaw_accel);
         }
@@ -1062,7 +1062,7 @@ void AC_AutoTune::load_intra_test_gains()
         attitude_control->get_rate_yaw_pid().kI(orig_yaw_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
         attitude_control->get_rate_yaw_pid().kD(orig_yaw_rd);
         attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
-        attitude_control->get_rate_yaw_pid().filt_hz(orig_yaw_rLPF);
+        attitude_control->get_rate_yaw_pid().filt_E_hz(orig_yaw_rLPF);
         attitude_control->get_angle_yaw_p().kP(orig_yaw_sp);
     }
 }
@@ -1091,7 +1091,7 @@ void AC_AutoTune::load_twitch_gains()
         attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp*0.01f);
         attitude_control->get_rate_yaw_pid().kD(0.0f);
         attitude_control->get_rate_yaw_pid().ff(0.0f);
-        attitude_control->get_rate_yaw_pid().filt_hz(tune_yaw_rLPF);
+        attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF);
         attitude_control->get_angle_yaw_p().kP(tune_yaw_sp);
         break;
     }
@@ -1191,7 +1191,7 @@ void AC_AutoTune::save_tuning_gains()
         attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL);
         attitude_control->get_rate_yaw_pid().kD(0.0f);
         attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
-        attitude_control->get_rate_yaw_pid().filt_hz(tune_yaw_rLPF);
+        attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF);
         attitude_control->get_rate_yaw_pid().save_gains();
 
         // stabilize yaw
@@ -1206,7 +1206,7 @@ void AC_AutoTune::save_tuning_gains()
         orig_yaw_ri = attitude_control->get_rate_yaw_pid().kI();
         orig_yaw_rd = attitude_control->get_rate_yaw_pid().kD();
         orig_yaw_rff = attitude_control->get_rate_yaw_pid().ff();
-        orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_hz();
+        orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_E_hz();
         orig_yaw_sp = attitude_control->get_angle_yaw_p().kP();
         orig_yaw_accel = attitude_control->get_accel_pitch_max();
     }