Solution to "Filter failed" error HP mac OS X for El Capitan
I followed these links I found on the web to regenerate a new, self-signed, printer certificate. Worked right away. Am running El Capitan on a 10-years(+) Mac laptop.
This has you remove the printer datafile that may be a problem
This show step-by-step how to make new certificate
https://support.hp.com/gb-en/document/c06447928
They are addressing a different error message, but this works for "Filter failed" one too.