diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 9aabff114..2e49f89cf 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -448,6 +448,9 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
 		settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI], 0,
 		settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT]);
 	
+	// Set up the derivative term
+	pid_configure_derivative(settings.DerivativeCutoff, settings.DerivativeGamma);
+
 	// Maximum deviation to accumulate for axis lock
 	max_axis_lock = settings.MaxAxisLock;
 	max_axislock_rate = settings.MaxAxisLockRate;
diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml
index 7cd7de210..b1b541310 100644
--- a/shared/uavobjectdefinition/stabilizationsettings.xml
+++ b/shared/uavobjectdefinition/stabilizationsettings.xml
@@ -24,6 +24,8 @@
 	<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
 
 	<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
+	<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
+	<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
 
 	<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="15"/>
 	<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>