diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index b6f3fe607d..9143e85cbe 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -1025,9 +1025,9 @@ void AC_AttitudeControl::accel_limiting(bool enable_limits)
             _accel_yaw_max.load();
         }
     } else {
-        _accel_roll_max = 0.0f;
-        _accel_pitch_max = 0.0f;
-        _accel_yaw_max = 0.0f;
+        _accel_roll_max.set(0.0f);
+        _accel_pitch_max.set(0.0f);
+        _accel_yaw_max.set(0.0f);
     }
 }
 
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 57becd16cf..a30974d545 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -87,7 +87,7 @@ public:
     float get_accel_roll_max_radss() const { return radians(_accel_roll_max * 0.01f); }
 
     // Sets the roll acceleration limit in centidegrees/s/s
-    void set_accel_roll_max_cdss(float accel_roll_max) { _accel_roll_max = accel_roll_max; }
+    void set_accel_roll_max_cdss(float accel_roll_max) { _accel_roll_max.set(accel_roll_max); }
 
     // Sets and saves the roll acceleration limit in centidegrees/s/s
     void save_accel_roll_max_cdss(float accel_roll_max) { _accel_roll_max.set_and_save(accel_roll_max); }
@@ -97,7 +97,7 @@ public:
     float get_accel_pitch_max_radss() const { return radians(_accel_pitch_max * 0.01f); }
 
     // Sets the pitch acceleration limit in centidegrees/s/s
-    void set_accel_pitch_max_cdss(float accel_pitch_max) { _accel_pitch_max = accel_pitch_max; }
+    void set_accel_pitch_max_cdss(float accel_pitch_max) { _accel_pitch_max.set(accel_pitch_max); }
 
     // Sets and saves the pitch acceleration limit in centidegrees/s/s
     void save_accel_pitch_max_cdss(float accel_pitch_max) { _accel_pitch_max.set_and_save(accel_pitch_max); }
@@ -107,7 +107,7 @@ public:
     float get_accel_yaw_max_radss() const { return radians(_accel_yaw_max * 0.01f); }
 
     // Sets the yaw acceleration limit in centidegrees/s/s
-    void set_accel_yaw_max_cdss(float accel_yaw_max) { _accel_yaw_max = accel_yaw_max; }
+    void set_accel_yaw_max_cdss(float accel_yaw_max) { _accel_yaw_max.set(accel_yaw_max); }
 
     // Sets and saves the yaw acceleration limit in centidegrees/s/s
     void save_accel_yaw_max_cdss(float accel_yaw_max) { _accel_yaw_max.set_and_save(accel_yaw_max); }
@@ -128,7 +128,7 @@ public:
     float get_input_tc() const { return _input_tc; }
 
     // set the rate control input smoothing time constant
-    void set_input_tc(float input_tc) { _input_tc = constrain_float(input_tc, 0.0f, 1.0f); }
+    void set_input_tc(float input_tc) { _input_tc.set(constrain_float(input_tc, 0.0f, 1.0f)); }
 
     // Ensure attitude controller have zero errors to relax rate controller output
     void relax_attitude_controllers();
@@ -269,7 +269,7 @@ public:
     Vector3f rate_bf_targets() const { return _ang_vel_body + _sysid_ang_vel_body; }
 
     // Enable or disable body-frame feed forward
-    void bf_feedforward(bool enable_or_disable) { _rate_bf_ff_enabled = enable_or_disable; }
+    void bf_feedforward(bool enable_or_disable) { _rate_bf_ff_enabled.set(enable_or_disable); }
 
     // Enable or disable body-frame feed forward and save
     void bf_feedforward_save(bool enable_or_disable) { _rate_bf_ff_enabled.set_and_save(enable_or_disable); }
diff --git a/libraries/AC_AttitudeControl/AC_CommandModel.h b/libraries/AC_AttitudeControl/AC_CommandModel.h
index 89bb116001..dd99031474 100644
--- a/libraries/AC_AttitudeControl/AC_CommandModel.h
+++ b/libraries/AC_AttitudeControl/AC_CommandModel.h
@@ -19,7 +19,7 @@ public:
     float get_expo() const { return expo; }
 
     // Set the max rate
-    void set_rate(float input) { rate = input; }
+    void set_rate(float input) { rate.set(input); }
 
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];