diff --git a/conf/simulator/jsbsim/aircraft/rotwing25.xml b/conf/simulator/jsbsim/aircraft/rotwing25.xml
index 9a8c0787dc..b06472370f 100644
--- a/conf/simulator/jsbsim/aircraft/rotwing25.xml
+++ b/conf/simulator/jsbsim/aircraft/rotwing25.xml
@@ -52,7 +52,7 @@
   <ground_reactions>
     <contact type="STRUCTURE" name="CONTACT_FRONT">
       <location unit="M">
-        <x>-0.15 </x>
+        <x>-0.5 </x>
         <y> 0 </y>
         <z>-0.1 </z>
       </location>
@@ -68,7 +68,7 @@
 
     <contact type="STRUCTURE" name="CONTACT_BACK">
       <location unit="M">
-        <x> 0.15</x>
+        <x> 0.5</x>
         <y> 0   </y>
         <z>-0.1 </z>
       </location>
@@ -85,7 +85,7 @@
     <contact type="STRUCTURE" name="CONTACT_RIGHT">
       <location unit="M">
         <x> 0.  </x>
-        <y> 0.15</y>
+        <y> 0.5</y>
         <z>-0.1 </z>
       </location>
       <static_friction>  0.8 </static_friction>
@@ -101,7 +101,7 @@
     <contact type="STRUCTURE" name="CONTACT_LEFT">
       <location unit="M">
         <x> 0.  </x>
-        <y>-0.15</y>
+        <y>-0.5</y>
         <z>-0.1 </z>
       </location>
       <static_friction>  0.8 </static_friction>
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
index 2a347bad94..c7033a294a 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
@@ -448,9 +448,15 @@ 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;
+#if STABILIZATION_INDI_FILTER_RATES_SECOND_ORDER
+  init_butterworth_2_low_pass(&rates_filt_so[0], tau, sample_time, stateGetBodyRates_f()->p);
+  init_butterworth_2_low_pass(&rates_filt_so[1], tau, sample_time, stateGetBodyRates_f()->q);
+  init_butterworth_2_low_pass(&rates_filt_so[2], tau, sample_time, stateGetBodyRates_f()->r);
+#else
   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);
+#endif
 }
 
 /**