diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
index e83abb39aeb87..56b9cca37a8b3 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
@@ -336,10 +336,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {
 
 AC_AttitudeControl_Sub::AC_AttitudeControl_Sub(AP_AHRS_View &ahrs, const AP_MultiCopter &aparm, AP_MotorsMulticopter& motors) :
     AC_AttitudeControl(ahrs, aparm, motors),
-    _motors_multi(motors),
-    _pid_rate_roll(AC_ATC_SUB_RATE_RP_P, AC_ATC_SUB_RATE_RP_I, AC_ATC_SUB_RATE_RP_D, 0.0f, AC_ATC_SUB_RATE_RP_IMAX, AC_ATC_SUB_RATE_RP_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_RP_FILT_HZ),
-    _pid_rate_pitch(AC_ATC_SUB_RATE_RP_P, AC_ATC_SUB_RATE_RP_I, AC_ATC_SUB_RATE_RP_D, 0.0f, AC_ATC_SUB_RATE_RP_IMAX, AC_ATC_SUB_RATE_RP_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_RP_FILT_HZ),
-	_pid_rate_yaw(AC_ATC_SUB_RATE_YAW_P, AC_ATC_SUB_RATE_YAW_I, AC_ATC_SUB_RATE_YAW_D, 0.0f, AC_ATC_SUB_RATE_YAW_IMAX, AC_ATC_SUB_RATE_YAW_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_YAW_FILT_HZ)
+    _motors_multi(motors)
 {
     AP_Param::setup_object_defaults(this, var_info);
 
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h
index fb69f7094f0d6..c5a257016da50 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h
@@ -83,9 +83,39 @@ class AC_AttitudeControl_Sub : public AC_AttitudeControl {
     float get_throttle_avg_max(float throttle_in);
 
     AP_MotorsMulticopter& _motors_multi;
-    AC_PID                _pid_rate_roll;
-    AC_PID                _pid_rate_pitch;
-    AC_PID                _pid_rate_yaw;
+
+    // Roll and Pitch rate PIDs share the same defaults:
+    const AC_PID::Defaults rp_defaults {
+        AC_PID::Defaults{
+            .p         = AC_ATC_SUB_RATE_RP_P,
+            .i         = AC_ATC_SUB_RATE_RP_I,
+            .d         = AC_ATC_SUB_RATE_RP_D,
+            .ff        = 0.0f,
+            .imax      = AC_ATC_SUB_RATE_RP_IMAX,
+            .filt_T_hz = AC_ATC_SUB_RATE_RP_FILT_HZ,
+            .filt_E_hz = 0.0,
+            .filt_D_hz = AC_ATC_SUB_RATE_RP_FILT_HZ,
+            .srmax     = 0,
+            .srtau     = 1.0
+        }
+    };
+    AC_PID                _pid_rate_roll { rp_defaults };
+    AC_PID                _pid_rate_pitch { rp_defaults };
+
+    AC_PID                _pid_rate_yaw {
+        AC_PID::Defaults{
+            .p         = AC_ATC_SUB_RATE_YAW_P,
+            .i         = AC_ATC_SUB_RATE_YAW_I,
+            .d         = AC_ATC_SUB_RATE_YAW_D,
+            .ff        = 0.0f,
+            .imax      = AC_ATC_SUB_RATE_YAW_IMAX,
+            .filt_T_hz = AC_ATC_SUB_RATE_YAW_FILT_HZ,
+            .filt_E_hz = 0.0f,
+            .filt_D_hz = AC_ATC_SUB_RATE_YAW_FILT_HZ,
+            .srmax     = 0,
+            .srtau     = 1.0
+        }
+    };
 
     AP_Float              _thr_mix_man;     // throttle vs attitude control prioritisation used when using manual throttle (higher values mean we prioritise attitude control over throttle)
     AP_Float              _thr_mix_min;     // throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)