diff --git a/stm-firmware/include/reflow-controller/pid-controller.h b/stm-firmware/include/reflow-controller/pid-controller.h
index 16af242..d02cc86 100644
--- a/stm-firmware/include/reflow-controller/pid-controller.h
+++ b/stm-firmware/include/reflow-controller/pid-controller.h
@@ -38,7 +38,8 @@ struct pid_controller {
 	volatile float derivate;
 };
 
-void pid_init(struct pid_controller *pid, float k_deriv, float k_int, float k_p, float output_sat_min, float output_sat_max, float integral_max, float sample_period);
+void pid_init(struct pid_controller *pid, float k_deriv, float k_int, float k_p,
+	      float output_sat_min, float output_sat_max, float integral_max, float kd_tau, float sample_period);
 
 void pid_zero(struct pid_controller *pid);
 
diff --git a/stm-firmware/include/reflow-controller/settings/settings.h b/stm-firmware/include/reflow-controller/settings/settings.h
index 56faf50..9168991 100644
--- a/stm-firmware/include/reflow-controller/settings/settings.h
+++ b/stm-firmware/include/reflow-controller/settings/settings.h
@@ -28,6 +28,7 @@ struct oven_pid_settings {
 	float kd;
 	float kp;
 	float ki;
+	float kd_tau;
 	float t_sample;
 	float max_integral;
 };
diff --git a/stm-firmware/oven-driver.c b/stm-firmware/oven-driver.c
index cad8c1d..ec88817 100644
--- a/stm-firmware/oven-driver.c
+++ b/stm-firmware/oven-driver.c
@@ -113,7 +113,6 @@ void oven_pid_init(struct pid_controller *controller_to_copy)
 	safety_controller_report_timing(ERR_TIMING_PID);
 	timestamp_last_run = systick_get_global_tick();
 	ssr_safety_en(true);
-
 }
 
 void oven_pid_set_target_temperature(float temp)
diff --git a/stm-firmware/pid-controller.c b/stm-firmware/pid-controller.c
index 69d69a9..141771e 100644
--- a/stm-firmware/pid-controller.c
+++ b/stm-firmware/pid-controller.c
@@ -21,10 +21,8 @@
 #include <reflow-controller/pid-controller.h>
 #include <string.h>
 
-const float kd_tau = 2.0f;
-
 void pid_init(struct pid_controller *pid, float k_deriv, float k_int, float k_p, float output_sat_min,
-	      float output_sat_max, float integral_max, float sample_period)
+	      float output_sat_max, float integral_max, float kd_tau, float sample_period)
 {
 	if (!pid)
 		return;
diff --git a/stm-firmware/settings/settings-sd-card.c b/stm-firmware/settings/settings-sd-card.c
index 741faca..acbe14f 100644
--- a/stm-firmware/settings/settings-sd-card.c
+++ b/stm-firmware/settings/settings-sd-card.c
@@ -170,6 +170,7 @@ enum settings_load_result sd_card_settings_load_pid_oven_parameters(struct oven_
 	enum config_parser_ret parse_result;
 	struct config_parser_entry entry;
 	bool kp_loaded = false, kd_loaded = false, ki_loaded = false, int_max_loaded = false, t_sample = false;
+	bool kd_tau_loaded = false;
 
 	if (!settings) {
 		ret = SETT_LOAD_ERR;
@@ -198,13 +199,16 @@ enum settings_load_result sd_card_settings_load_pid_oven_parameters(struct oven_
 			} else if (!strcmp(entry.name, "sample_period")) {
 				t_sample = true;
 				settings->t_sample = entry.value.float_val / 1000.0f;
+			} else if (!strcmp(entry.name, "kd_tau")) {
+				settings->kd_tau = entry.value.float_val;
+				kd_tau_loaded = true;
 			}
 		}
 
 	} while (!config_parser_ret_is_abort_condition(parse_result));
 
 
-	if (kp_loaded && kd_loaded && ki_loaded && t_sample && int_max_loaded)
+	if (kp_loaded && kd_loaded && ki_loaded && t_sample && int_max_loaded && kd_tau_loaded)
 		ret = SETT_LOAD_SUCCESS;
 
 	config_parser_close_file(p);
diff --git a/stm-firmware/ui/gui.c b/stm-firmware/ui/gui.c
index e9cbc36..c3dfebc 100644
--- a/stm-firmware/ui/gui.c
+++ b/stm-firmware/ui/gui.c
@@ -389,7 +389,7 @@ static void gui_menu_constant_temperature_driver_setup(struct lcd_menu *menu, en
 			menu_lcd_output(menu, 1, "PID parameters");
 		} else {
 			pid_init(&pid_controller, pid_settings.kd, pid_settings.ki, pid_settings.kp, 0, 100,
-				 pid_settings.max_integral, pid_settings.t_sample);
+				 pid_settings.max_integral, pid_settings.kd_tau, pid_settings.t_sample);
 			oven_pid_init(&pid_controller);
 			menu_entry_enter(menu, gui_menu_constant_temperature_driver, true);
 		}