diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp
index 24bb3743c9..4aea1a88f5 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune.cpp
@@ -90,6 +90,7 @@
 #define AUTOTUNE_MESSAGE_SUCCESS 2
 #define AUTOTUNE_MESSAGE_FAILED 3
 #define AUTOTUNE_MESSAGE_SAVED_GAINS 4
+#define AUTOTUNE_MESSAGE_TESTING 5
 
 #define AUTOTUNE_ANNOUNCE_INTERVAL_MS 2000
 
@@ -177,6 +178,7 @@ bool AC_AutoTune::init_internals(bool _use_poshold,
         // we have completed a tune and the pilot wishes to test the new gains in the current flight mode
         // so simply apply tuning gains (i.e. do not change flight mode)
         load_gains(GAIN_TUNED);
+        update_gcs(AUTOTUNE_MESSAGE_TESTING);
         AP::logger().Write_Event(LogEvent::AUTOTUNE_PILOT_TESTING);
         break;
     }
@@ -925,6 +927,7 @@ void AC_AutoTune::backup_gains_and_initialise()
     orig_roll_ri = attitude_control->get_rate_roll_pid().kI();
     orig_roll_rd = attitude_control->get_rate_roll_pid().kD();
     orig_roll_rff = attitude_control->get_rate_roll_pid().ff();
+    orig_roll_fltt = attitude_control->get_rate_roll_pid().filt_T_hz();
     orig_roll_sp = attitude_control->get_angle_roll_p().kP();
     orig_roll_accel = attitude_control->get_accel_roll_max();
     tune_roll_rp = attitude_control->get_rate_roll_pid().kP();
@@ -936,6 +939,7 @@ void AC_AutoTune::backup_gains_and_initialise()
     orig_pitch_ri = attitude_control->get_rate_pitch_pid().kI();
     orig_pitch_rd = attitude_control->get_rate_pitch_pid().kD();
     orig_pitch_rff = attitude_control->get_rate_pitch_pid().ff();
+    orig_pitch_fltt = attitude_control->get_rate_pitch_pid().filt_T_hz();
     orig_pitch_sp = attitude_control->get_angle_pitch_p().kP();
     orig_pitch_accel = attitude_control->get_accel_pitch_max();
     tune_pitch_rp = attitude_control->get_rate_pitch_pid().kP();
@@ -947,6 +951,7 @@ 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_fltt = attitude_control->get_rate_yaw_pid().filt_T_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();
@@ -969,6 +974,7 @@ void AC_AutoTune::load_orig_gains()
             attitude_control->get_rate_roll_pid().kI(orig_roll_ri);
             attitude_control->get_rate_roll_pid().kD(orig_roll_rd);
             attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
+            attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt);
             attitude_control->get_angle_roll_p().kP(orig_roll_sp);
             attitude_control->set_accel_roll_max(orig_roll_accel);
         }
@@ -979,6 +985,7 @@ void AC_AutoTune::load_orig_gains()
             attitude_control->get_rate_pitch_pid().kI(orig_pitch_ri);
             attitude_control->get_rate_pitch_pid().kD(orig_pitch_rd);
             attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
+            attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt);
             attitude_control->get_angle_pitch_p().kP(orig_pitch_sp);
             attitude_control->set_accel_pitch_max(orig_pitch_accel);
         }
@@ -990,6 +997,7 @@ void AC_AutoTune::load_orig_gains()
             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_E_hz(orig_yaw_rLPF);
+            attitude_control->get_rate_yaw_pid().filt_T_hz(orig_yaw_fltt);
             attitude_control->get_angle_yaw_p().kP(orig_yaw_sp);
             attitude_control->set_accel_yaw_max(orig_yaw_accel);
         }
@@ -1049,6 +1057,7 @@ void AC_AutoTune::load_intra_test_gains()
         attitude_control->get_rate_roll_pid().kI(orig_roll_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
         attitude_control->get_rate_roll_pid().kD(orig_roll_rd);
         attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
+        attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt);
         attitude_control->get_angle_roll_p().kP(orig_roll_sp);
     }
     if (pitch_enabled()) {
@@ -1056,6 +1065,7 @@ void AC_AutoTune::load_intra_test_gains()
         attitude_control->get_rate_pitch_pid().kI(orig_pitch_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
         attitude_control->get_rate_pitch_pid().kD(orig_pitch_rd);
         attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
+        attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt);
         attitude_control->get_angle_pitch_p().kP(orig_pitch_sp);
     }
     if (yaw_enabled()) {
@@ -1063,6 +1073,7 @@ 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_T_hz(orig_yaw_fltt);
         attitude_control->get_rate_yaw_pid().filt_E_hz(orig_yaw_rLPF);
         attitude_control->get_angle_yaw_p().kP(orig_yaw_sp);
     }
@@ -1078,6 +1089,7 @@ void AC_AutoTune::load_twitch_gains()
         attitude_control->get_rate_roll_pid().kI(tune_roll_rp*0.01f);
         attitude_control->get_rate_roll_pid().kD(tune_roll_rd);
         attitude_control->get_rate_roll_pid().ff(0.0f);
+        attitude_control->get_rate_roll_pid().filt_T_hz(0.0f);
         attitude_control->get_angle_roll_p().kP(tune_roll_sp);
         break;
     case PITCH:
@@ -1085,6 +1097,7 @@ void AC_AutoTune::load_twitch_gains()
         attitude_control->get_rate_pitch_pid().kI(tune_pitch_rp*0.01f);
         attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd);
         attitude_control->get_rate_pitch_pid().ff(0.0f);
+        attitude_control->get_rate_pitch_pid().filt_T_hz(0.0f);
         attitude_control->get_angle_pitch_p().kP(tune_pitch_sp);
         break;
     case YAW:
@@ -1093,6 +1106,7 @@ void AC_AutoTune::load_twitch_gains()
         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_E_hz(tune_yaw_rLPF);
+        attitude_control->get_rate_yaw_pid().filt_T_hz(0.0f);
         attitude_control->get_angle_yaw_p().kP(tune_yaw_sp);
         break;
     }
@@ -1141,6 +1155,7 @@ void AC_AutoTune::save_tuning_gains()
         attitude_control->get_rate_roll_pid().kI(tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL);
         attitude_control->get_rate_roll_pid().kD(tune_roll_rd);
         attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
+        attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt);
         attitude_control->get_rate_roll_pid().save_gains();
 
         // stabilize roll
@@ -1165,6 +1180,7 @@ void AC_AutoTune::save_tuning_gains()
         attitude_control->get_rate_pitch_pid().kI(tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL);
         attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd);
         attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
+        attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt);
         attitude_control->get_rate_pitch_pid().save_gains();
 
         // stabilize pitch
@@ -1189,6 +1205,7 @@ 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_T_hz(orig_yaw_fltt);
         attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF);
         attitude_control->get_rate_yaw_pid().save_gains();
 
@@ -1232,6 +1249,9 @@ void AC_AutoTune::update_gcs(uint8_t message_id)
     case AUTOTUNE_MESSAGE_FAILED:
         gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: Failed");
         break;
+    case AUTOTUNE_MESSAGE_TESTING:
+        gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: Pilot Testing");
+        break;
     case AUTOTUNE_MESSAGE_SAVED_GAINS:
         gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: Saved gains for %s%s%s",
                         (axes_completed&AUTOTUNE_AXIS_BITMASK_ROLL)?"Roll ":"",
diff --git a/libraries/AC_AutoTune/AC_AutoTune.h b/libraries/AC_AutoTune/AC_AutoTune.h
index aaa92a56ef..3457a67512 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.h
+++ b/libraries/AC_AutoTune/AC_AutoTune.h
@@ -191,9 +191,9 @@ private:
     LowPassFilterFloat  rotation_rate_filt;         // filtered rotation rate in radians/second
 
     // backup of currently being tuned parameter values
-    float    orig_roll_rp, orig_roll_ri, orig_roll_rd, orig_roll_rff, orig_roll_sp, orig_roll_accel;
-    float    orig_pitch_rp, orig_pitch_ri, orig_pitch_rd, orig_pitch_rff, orig_pitch_sp, orig_pitch_accel;
-    float    orig_yaw_rp, orig_yaw_ri, orig_yaw_rd, orig_yaw_rff, orig_yaw_rLPF, orig_yaw_sp, orig_yaw_accel;
+    float    orig_roll_rp, orig_roll_ri, orig_roll_rd, orig_roll_rff, orig_roll_fltt, orig_roll_sp, orig_roll_accel;
+    float    orig_pitch_rp, orig_pitch_ri, orig_pitch_rd, orig_pitch_rff, orig_pitch_fltt, orig_pitch_sp, orig_pitch_accel;
+    float    orig_yaw_rp, orig_yaw_ri, orig_yaw_rd, orig_yaw_rff, orig_yaw_fltt, orig_yaw_rLPF, orig_yaw_sp, orig_yaw_accel;
     bool     orig_bf_feedforward;
 
     // currently being tuned parameter values