diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
index eee05880fd..9edc3e1247 100644
--- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
+++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
@@ -229,7 +229,7 @@ void FwAutotuneAttitudeControl::checkFilters()
 			reset_filters = true;
 		}
 
-		if (reset_filters) {
+		if (reset_filters || !_are_filters_initialized) {
 			_are_filters_initialized = true;
 			_filter_sample_rate = update_rate_hz;
 			_sys_id.setLpfCutoffFrequency(_filter_sample_rate, _param_imu_gyro_cutoff.get());
diff --git a/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp b/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp
index 749186ee8d..c99ccad653 100644
--- a/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp
+++ b/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp
@@ -236,7 +236,7 @@ void McAutotuneAttitudeControl::checkFilters()
 			reset_filters = true;
 		}
 
-		if (reset_filters && !_are_filters_initialized) {
+		if (reset_filters || !_are_filters_initialized) {
 			_filter_dt = _sample_interval_avg;
 
 			const float filter_rate_hz = 1.f / _filter_dt;