diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp
index cfcc48b62a..d13673ec9b 100644
--- a/src/lib/external_lgpl/tecs/tecs.cpp
+++ b/src/lib/external_lgpl/tecs/tecs.cpp
@@ -89,7 +89,7 @@ void TECS::update_50hz(float baro_altitude, float airspeed, const math::Matrix<3
 		// take 5 point moving average
 		//_vel_dot = _vdot_filter.apply(temp);
 		// XXX resolve this properly
-		_vel_dot = 0.9f * _vel_dot + 0.1f * temp;
+		_vel_dot = 0.95f * _vel_dot + 0.05f * temp;
 
 	} else {
 		_vel_dot = 0.0f;
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index c44f29a404..fe27de14f5 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -634,8 +634,9 @@ FixedwingAttitudeControl::task_main()
 
 	/* rate limit vehicle status updates to 5Hz */
 	orb_set_interval(_vcontrol_mode_sub, 200);
-	/* rate limit attitude control to 50 Hz (with some margin, so 17 ms) */
-	orb_set_interval(_att_sub, 17);
+	/* do not limit the attitude updates in order to minimize latency.
+	 * actuator outputs are still limited by the individual drivers
+	 * properly to not saturate IO or physical limitations */
 
 	parameters_update();