diff --git a/flight/Libraries/math/pid.c b/flight/Libraries/math/pid.c
index 8bb0e6013..b15c0e592 100644
--- a/flight/Libraries/math/pid.c
+++ b/flight/Libraries/math/pid.c
@@ -31,9 +31,14 @@
 #include "openpilot.h"
 #include "pid.h"
 
+#define F_PI ((float) M_PI)
+
 //! Private method
 static float bound(float val, float range);
 
+//! Store the shared time constant for the derivative cutoff.
+static float deriv_tau = 7.9577e-3f;
+
 float pid_apply(struct pid *pid, const float err, float dT)
 {
 	float diff = (err - pid->lastErr);
@@ -47,7 +52,7 @@ float pid_apply(struct pid *pid, const float err, float dT)
 	// Calculate DT1 term, fixed T1 timeconstant
 	if(pid->d && dT)
 	{
-		dterm = pid->lastDer +  dT / ( dT + 7.9577e-3f) * ((diff * pid->d / dT) - pid->lastDer);
+		dterm = pid->lastDer +  dT / ( dT + deriv_tau) * ((diff * pid->d / dT) - pid->lastDer);
 		pid->lastDer = dterm;            //   ^ set constant to 1/(2*pi*f_cutoff)
 	}	                                 //   7.9577e-3  means 20 Hz f_cutoff
  
@@ -68,6 +73,16 @@ void pid_zero(struct pid *pid)
 	pid->lastDer = 0;
 }
 
+/**
+ * @brief Configure the common terms that alter ther derivative
+ * @param[in] cutoff The cutoff frequency (in Hz)
+ * @param[in] gamma The gamma term for setpoint shaping (unsused now)
+ */
+void pid_configure_derivative(float cutoff, float gamma)
+{
+	deriv_tau = 1.0f / (2 * F_PI * cutoff);
+}
+
 /**
  * Configure the settings for a pid structure
  * @param[out] pid The PID structure to configure
diff --git a/flight/Libraries/math/pid.h b/flight/Libraries/math/pid.h
index e817cab57..a827c23f0 100644
--- a/flight/Libraries/math/pid.h
+++ b/flight/Libraries/math/pid.h
@@ -46,5 +46,6 @@ struct pid {
 float pid_apply(struct pid *pid, const float err, float dT);
 void pid_zero(struct pid *pid);
 void pid_configure(struct pid *pid, float p, float i, float d, float iLim);
+void pid_configure_derivative(float cutoff, float gamma);
 
 #endif /* PID_H */
\ No newline at end of file