diff --git a/src/main/flight/autopilot.c b/src/main/flight/autopilot.c
index 6d729d27e4..c15955f010 100644
--- a/src/main/flight/autopilot.c
+++ b/src/main/flight/autopilot.c
@@ -148,7 +148,14 @@ void autopilotInit(void)
     positionPidCoeffs.Kd = cfg->position_D * POSITION_D_SCALE;
     positionPidCoeffs.Kf = cfg->position_A * POSITION_A_SCALE; // Kf used for acceleration
     // initialise filters with approximate filter gains; location isn't used at this point.
-    resetPositionControl(&gpsSol.llh, 100);
+    ap.upsampleLpfGain = pt3FilterGain(UPSAMPLING_CUTOFF_HZ, 0.01f); // 5Hz, assuming 100Hz task rate at init
+    resetUpsampleFilters();
+    // Initialise PT1 filters for deivative and acceleration in earth frame axes
+    ap.vaLpfCutoff = cfg->position_cutoff * 0.01f;
+    const float vaGain = pt1FilterGain(ap.vaLpfCutoff,  0.1f); // assume 10Hz GPS connection at start; value is overwritten before first filter use
+    for (unsigned i = 0; i < ARRAYLEN(ap.efAxis); i++) {
+        resetEFAxisFilters(&ap.efAxis[i], vaGain);
+    }
 }
 
 void resetAltitudeControl (void) {