Looking to understand ATC_RAT_***_FLT* params

Hi guys, Im following the guide https://ardupilot.org/copter/docs/tuning-process-instructions.html?highlight=mot_thst_expo#setting-the-aircraft-up-ready-for-tuning

Im actually looking to tune a quadplane, but Im a bit confuse about the setting up of the RAT_**_FLT parameters, the guide says they should all (except for te YAW) be half of the value for INS_GYRO_FILTER, which is 20 Hz given the 16" size of my props. This means that the value of the parameters should all be 10 Hz. What confuses me is that the default value are 10 for derivative and 20 for target.

Whats worst looking for some clarification in the forums I found this post ATC_RAT_YAW_FLTD settings where @andyp1per proposes a large FLTD value and a low FLTT for making it smoother, which is appealing for my craft.

If someone could explain to me whats the best way to set this parameters to be as stable and safe as posible that would be great. Not to mention why YAW filters seem to work diferently.

Sorry for the long post and the bad english. Tanks for reading anyway