diff --git a/ground/openpilotgcs/src/plugins/config/ccattitude.ui b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
index afe6965a2..445a05d37 100755
--- a/ground/openpilotgcs/src/plugins/config/ccattitude.ui
+++ b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
@@ -111,7 +111,7 @@
             <x>0</x>
             <y>0</y>
             <width>750</width>
-            <height>466</height>
+            <height>483</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -367,16 +367,27 @@ margin:1px;</string>
                  </spacer>
                 </item>
                 <item>
-                 <widget class="QCheckBox" name="zeroGyroBiasOnArming">
-                  <property name="toolTip">
-                   <string>If enabled, a fast recalibration of gyro zero point will be done
+                 <layout class="QVBoxLayout" name="verticalLayout_2">
+                  <item>
+                   <widget class="QCheckBox" name="zeroGyroBiasOnArming">
+                    <property name="toolTip">
+                     <string>If enabled, a fast recalibration of gyro zero point will be done
 whenever the frame is armed. Do not move the airframe while
 arming it in that case!</string>
-                  </property>
-                  <property name="text">
-                   <string>Zero gyros while arming aircraft</string>
-                  </property>
-                 </widget>
+                    </property>
+                    <property name="text">
+                     <string>Zero gyros while arming aircraft</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QCheckBox" name="accelFiltering">
+                    <property name="text">
+                     <string>Accel filtering</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
                 </item>
                 <item>
                  <spacer name="horizontalSpacer_6">
diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
index fd800811c..48f4768d7 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
@@ -56,6 +56,8 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
 
     // Connect the help button
     connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
+
+    connect(ui->accelFiltering, SIGNAL(toggled(bool)), this, SLOT(setAccelFiltering(bool)));
     addUAVObjectToWidgetRelation("AttitudeSettings","ZeroDuringArming",ui->zeroGyroBiasOnArming);
 
     addUAVObjectToWidgetRelation("AttitudeSettings","BoardRotation",ui->rollBias,AttitudeSettings::BOARDROTATION_ROLL);
@@ -207,13 +209,39 @@ void ConfigCCAttitudeWidget::openHelp()
     QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/44Cf", QUrl::StrictMode) );
 }
 
+void ConfigCCAttitudeWidget::setAccelFiltering(bool active)
+{
+    AttitudeSettings* settings = AttitudeSettings::GetInstance(getObjectManager());
+    Q_ASSERT(settings);
+    AttitudeSettings::DataFields data = settings->getData();
+
+    data.AccelTau = active ? DEFAULT_ENABLED_ACCEL_TAU : 0.0f;
+
+    settings->setData(data);
+    setDirty(true);
+}
+
 void ConfigCCAttitudeWidget::enableControls(bool enable)
 {
-    if(ui->zeroBias)
+    if(ui->zeroBias) {
         ui->zeroBias->setEnabled(enable);
+    }
+    if(ui->accelFiltering) {
+        ui->accelFiltering->setEnabled(enable);
+    }
     ConfigTaskWidget::enableControls(enable);
 }
 
+void ConfigCCAttitudeWidget::refreshWidgetsValues(UAVObject *obj)
+{
+    AttitudeSettings* settings = AttitudeSettings::GetInstance(getObjectManager());
+    Q_ASSERT(settings);
+    AttitudeSettings::DataFields data = settings->getData();
+    ui->accelFiltering->setChecked(data.AccelTau > 0.0f);
+
+    ConfigTaskWidget::refreshWidgetsValues(obj);
+}
+
 void ConfigCCAttitudeWidget::updateObjectsFromWidgets()
 {
     ConfigTaskWidget::updateObjectsFromWidgets();
diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
index 0637d268a..7f1eabfe4 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
@@ -52,6 +52,7 @@ private slots:
     void timeout();
     void startAccelCalibration();
     void openHelp();
+    void setAccelFiltering(bool active);
 
 private:
     Ui_ccattitude *ui;
@@ -65,11 +66,15 @@ private:
     QList<double> x_accum, y_accum, z_accum;
     QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
 
+    static const float DEFAULT_ENABLED_ACCEL_TAU = 0.15;
     static const int NUM_SENSOR_UPDATES = 300;
     static const float ACCEL_SCALE = 0.004f * 9.81f;
 protected:
     virtual void enableControls(bool enable);
 
+protected slots:
+    void refreshWidgetsValues(UAVObject * obj=NULL);
+
 };
 
 #endif // CCATTITUDEWIDGET_H