DCL derivative filter coefficients question

Hello,

I try to implement the DCL PID controller. I do have a question when it comes to the derivative filter coefficients:

The controller is serviced every 400Hz in a ISR. I would like to set the filter bandwith to 5Hz. Refering to the documentation I would like to know if i do it the right way.

1Hz = 6.283rad/s

f_Isr = 400Hz -->T_Isr = 1/400Hz = 1/(400*6.283rad/s)

f_filter = 1/(2*Pi*Tau) = 5Hz --> Tau = 1/(2*Pi*5Hz)

 Tau = 1/(2*Pi*5*6.283rad/s)

c1 = 2/(T_Isr + 2*Tau) = 188.38 [1/(rad/s)]

c2 = (T_Isr - 2*Tau) / ( T_Isr + 2*Tau) = -0.9244

Is this the right way? Thank you very much.