We are going to add this:
3.6:
ATC_RAT_PIT_FILT - INS_GYRO_FILTER / 2
ATC_RAT_RLL_FILT - INS_GYRO_FILTER / 2
ATC_RAT_YAW_FILT - 2
4.0:
ATC_RAT_RLL_FLTD - INS_GYRO_FILTER / 2
ATC_RAT_RLL_FLTE - 0.0
ATC_RAT_RLL_FLTT - INS_GYRO_FILTER / 2
ATC_RAT_PIT_FLTD - INS_GYRO_FILTER / 2
ATC_RAT_PIT_FLTE - 0.0
ATC_RAT_PIT_FLTT - INS_GYRO_FILTER / 2
ATC_RAT_YAW_FLTD - 0.0
ATC_RAT_YAW_FLTE - 2
ATC_RAT_YAW_FLTT - INS_GYRO_FILTER / 2