In three-dimensional excitable systems scroll waves may lose their originally straight shape through different instabilities. In experiments, the formation of zigzag-shaped or helical filaments is often observed. Such a deformation may be due to either a twist-induced instability or a 3D meandering instability. We performed a systematic study using a Belousov-Zhabotinsky (BZ) system with a vertical gradient of excitability and determined the necessary twist for the onset of undulation in the filament. Thus, we demonstrate that in the case of a BZ system with a gradient parallel to the filament, the deformation of the filament is induced by a twist-induced instability.