diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
index edec9722ac..a2548be0ce 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
@@ -109,8 +109,10 @@ void FlightTaskAuto::_limitYawRate()
 		_yaw_setpoint = yaw_setpoint_sat;
 
 		if (!PX4_ISFINITE(_yawspeed_setpoint) && (_deltatime > FLT_EPSILON)) {
-			// Create a feedforward
-			_yawspeed_setpoint = dyaw / _deltatime;
+			// Create a feedforward using the filtered derivative
+			_yawspeed_filter.setParameters(_deltatime, .2f);
+			_yawspeed_filter.update(dyaw);
+			_yawspeed_setpoint = _yawspeed_filter.getState() / _deltatime;
 		}
 	}
 
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
index 55b8aea4d5..69180e8c59 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
@@ -46,6 +46,7 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 #include <lib/geo/geo.h>
+#include <lib/mathlib/math/filter/AlphaFilter.hpp>
 
 // TODO: make this switchable in the board config, like a module
 #if CONSTRAINED_FLASH
@@ -114,6 +115,7 @@ protected:
 	int _mission_gear{landing_gear_s::GEAR_KEEP};
 
 	float _yaw_sp_prev{NAN};
+	AlphaFilter<float> _yawspeed_filter;
 	bool _yaw_sp_aligned{false};
 
 	ObstacleAvoidance _obstacle_avoidance; /**< class adjusting setpoints according to external avoidance module's input */