diff --git a/conf/airframes/tudelft/rot_wing_25kg.xml b/conf/airframes/tudelft/rot_wing_25kg.xml
index e8e6048f4b..cbc9575867 100644
--- a/conf/airframes/tudelft/rot_wing_25kg.xml
+++ b/conf/airframes/tudelft/rot_wing_25kg.xml
@@ -446,9 +446,9 @@
 
         <!-- Filters -->
         <define name="FILTER_RATES_SECOND_ORDER"        value="FALSE" />
-        <define name="FILT_CUTOFF_P"                    value="5.0"/>
-        <define name="FILT_CUTOFF_Q"                    value="5.0"/>
-        <define name="FILT_CUTOFF_R"                    value="5.0"/>
+        <define name="FILT_CUTOFF_P"                    value="3.0"/>
+        <define name="FILT_CUTOFF_Q"                    value="3.0"/>
+        <define name="FILT_CUTOFF_R"                    value="3.0"/>
         <define name="FILT_CUTOFF"                      value="2.0"/>
         <define name="ESTIMATION_FILT_CUTOFF"           value="2.0"/>
         <define name="FILTER_YAW_RATE"                  value="TRUE"/>
diff --git a/conf/modules/stabilization_indi.xml b/conf/modules/stabilization_indi.xml
index d1884abf22..4013abc2d0 100644
--- a/conf/modules/stabilization_indi.xml
+++ b/conf/modules/stabilization_indi.xml
@@ -62,6 +62,7 @@
         <dl_setting var="indi_gains.rate.r" min="0.1" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P"/>
         <dl_setting var="indi_use_adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8"/>
         <dl_setting var="stablization_indi_yaw_dist_limit" min="0" step=".01" max="10.0" shortname="lim_yaw_spec_moment" param="STABILIZATION_INDI_YAW_DISTURBANCE_LIMIT"/>
+        <dl_setting MAX="50." MIN="1." STEP="0.1" VAR="stabilization_indi_filter_freq" shortname="filt_freq" module="stabilization/stabilization_indi" handler="update_filt_freq"/>
       </dl_settings>
     </dl_settings>
   </settings>
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
index c2642ec09a..2a347bad94 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
@@ -217,6 +217,8 @@ float rate_vect_prev[3] = {0., 0., 0.};
 float q_filt = 0.0;
 float r_filt = 0.0;
 
+float stabilization_indi_filter_freq = 20.0; //Hz, for setting handler
+
 // variables needed for estimation
 float g1g2_trans_mult[INDI_OUTPUTS][INDI_OUTPUTS];
 float g1g2inv[INDI_OUTPUTS][INDI_OUTPUTS];
@@ -441,6 +443,16 @@ void stabilization_indi_enter(void)
   float_vect_zero(ddu_estimation, INDI_NUM_ACT);
 }
 
+void stabilization_indi_update_filt_freq(float freq)
+{
+  stabilization_indi_filter_freq = freq;
+  float tau = 1.0 / (2.0 * M_PI * freq);
+  float sample_time = 1.0 / PERIODIC_FREQUENCY;
+  init_first_order_low_pass(&rates_filt_fo[0], tau, sample_time, stateGetBodyRates_f()->p);
+  init_first_order_low_pass(&rates_filt_fo[1], tau, sample_time, stateGetBodyRates_f()->q);
+  init_first_order_low_pass(&rates_filt_fo[2], tau, sample_time, stateGetBodyRates_f()->r);
+}
+
 /**
  * Function that resets the filters to zeros
  */
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
index 9abdaf4c6b..db589c367e 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
@@ -59,12 +59,14 @@ struct Indi_gains {
 extern float stablization_indi_yaw_dist_limit;
 
 extern struct Indi_gains indi_gains;
+extern float stabilization_indi_filter_freq; //for setting handler
 
 extern void stabilization_indi_init(void);
 extern void stabilization_indi_enter(void);
 extern void stabilization_indi_rate_run(bool in_flight, struct StabilizationSetpoint *rate_sp, struct ThrustSetpoint *thrust, int32_t *cmd);
 extern void stabilization_indi_attitude_run(bool in_flight, struct StabilizationSetpoint *att_sp, struct ThrustSetpoint *thrust, int32_t *cmd);
 extern void stabilization_indi_set_wls_settings(void);
+extern void stabilization_indi_update_filt_freq(float freq); // setting handler
 
 #endif /* STABILIZATION_INDI */