diff --git a/motor_controllerTypes.hpp b/motor_controllerTypes.hpp
index 594277b..8f814bf 100644
--- a/motor_controllerTypes.hpp
+++ b/motor_controllerTypes.hpp
@@ -14,6 +14,9 @@ namespace motor_controller {
 
         /** Max allowed variation in input command in unit/s */
         float ramp = base::infinity<float>();
+
+        /** How the derivative is computed */
+        DerivativeMode derivative_mode = Output;
     };
 }
 
diff --git a/tasks/PIDTask.cpp b/tasks/PIDTask.cpp
index a92cdd7..9ebb1ad 100644
--- a/tasks/PIDTask.cpp
+++ b/tasks/PIDTask.cpp
@@ -54,6 +54,7 @@ bool PIDTask::startHook()
     for (size_t i = 0; i < mSettings.size(); ++i) {
         mPIDs[i].reset();
         mPIDs[i].setPIDSettings(mSettings[i].pid);
+        mPIDs[i].setDerivativeMode(mSettings[i].derivative_mode);
     }
     return true;
 }
@@ -68,6 +69,7 @@ bool PIDTask::setSettings(std::vector< ::motor_controller::ActuatorSettings > co
     mSettings = value;
     for (size_t i = 0; i < mSettings.size(); ++i) {
         mPIDs[i].setPIDSettings(mSettings[i].pid);
+        mPIDs[i].setDerivativeMode(mSettings[i].derivative_mode);
     }
     return motor_controller::PIDTaskBase::setSettings(value);
 }