diff --git a/libraries/AC_PID/AC_P.h b/libraries/AC_PID/AC_P.h
index 3ec4681661..76cb398911 100644
--- a/libraries/AC_PID/AC_P.h
+++ b/libraries/AC_PID/AC_P.h
@@ -23,7 +23,7 @@ public:
     AC_P(const float &initial_p = 0.0f)
     {
 		AP_Param::setup_object_defaults(this, var_info);
-        _kp = initial_p;
+        _kp.set_and_default(initial_p);
     }
 
     CLASS_NO_COPY(AC_P);
diff --git a/libraries/AC_PID/AC_PI.cpp b/libraries/AC_PID/AC_PI.cpp
index d3624eafb4..c28a998780 100644
--- a/libraries/AC_PID/AC_PI.cpp
+++ b/libraries/AC_PID/AC_PI.cpp
@@ -30,9 +30,9 @@ AC_PI::AC_PI(float initial_p, float initial_i, float initial_imax)
     // load parameter values from eeprom
     AP_Param::setup_object_defaults(this, var_info);
 
-    kP.set(initial_p);
-    kI.set(initial_i);
-    imax.set(initial_imax);
+    kP.set_and_default(initial_p);
+    kI.set_and_default(initial_i);
+    imax.set_and_default(initial_imax);
 }
 
 float AC_PI::update(float measurement, float target, float dt)
diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index e63025877d..5f2dfd25c0 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -75,16 +75,16 @@ AC_PID::AC_PID(float initial_p, float initial_i, float initial_d, float initial_
     // load parameter values from eeprom
     AP_Param::setup_object_defaults(this, var_info);
 
-    _kp = initial_p;
-    _ki = initial_i;
-    _kd = initial_d;
-    _kff = initial_ff;
-    _kimax = fabsf(initial_imax);
-    filt_T_hz(initial_filt_T_hz);
-    filt_E_hz(initial_filt_E_hz);
-    filt_D_hz(initial_filt_D_hz);
-    _slew_rate_max.set(initial_srmax);
-    _slew_rate_tau.set(initial_srtau);
+    _kp.set_and_default(initial_p);
+    _ki.set_and_default(initial_i);
+    _kd.set_and_default(initial_d);
+    _kff.set_and_default(initial_ff);
+    _kimax.set_and_default(initial_imax);
+    _filt_T_hz.set_and_default(initial_filt_T_hz);
+    _filt_E_hz.set_and_default(initial_filt_E_hz);
+    _filt_D_hz.set_and_default(initial_filt_D_hz);
+    _slew_rate_max.set_and_default(initial_srmax);
+    _slew_rate_tau.set_and_default(initial_srtau);
 
     // reset input filter to first value received
     _flags._reset_filter = true;
diff --git a/libraries/AC_PID/AC_PID_2D.cpp b/libraries/AC_PID/AC_PID_2D.cpp
index 559faa34f7..16ea099ff6 100644
--- a/libraries/AC_PID/AC_PID_2D.cpp
+++ b/libraries/AC_PID/AC_PID_2D.cpp
@@ -56,13 +56,13 @@ AC_PID_2D::AC_PID_2D(float initial_kP, float initial_kI, float initial_kD, float
     // load parameter values from eeprom
     AP_Param::setup_object_defaults(this, var_info);
 
-    _kp = initial_kP;
-    _ki = initial_kI;
-    _kd = initial_kD;
-    _kff = initial_kFF;
-    _kimax = fabsf(initial_imax);
-    filt_E_hz(initial_filt_E_hz);
-    filt_D_hz(initial_filt_D_hz);
+    _kp.set_and_default(initial_kP);
+    _ki.set_and_default(initial_kI);
+    _kd.set_and_default(initial_kD);
+    _kff.set_and_default(initial_kFF);
+    _kimax.set_and_default(initial_imax);
+    _filt_E_hz.set_and_default(initial_filt_E_hz);
+    _filt_D_hz.set_and_default(initial_filt_D_hz);
 
     // reset input filter to first value received
     _reset_filter = true;
diff --git a/libraries/AC_PID/AC_PID_Basic.cpp b/libraries/AC_PID/AC_PID_Basic.cpp
index b285a31541..be859852a7 100644
--- a/libraries/AC_PID/AC_PID_Basic.cpp
+++ b/libraries/AC_PID/AC_PID_Basic.cpp
@@ -58,13 +58,13 @@ AC_PID_Basic::AC_PID_Basic(float initial_p, float initial_i, float initial_d, fl
     // load parameter values from eeprom
     AP_Param::setup_object_defaults(this, var_info);
 
-    _kp = initial_p;
-    _ki = initial_i;
-    _kd = initial_d;
-    _kff = initial_ff;
-    _kimax = fabsf(initial_imax);
-    filt_E_hz(initial_filt_E_hz);
-    filt_D_hz(initial_filt_D_hz);
+    _kp.set_and_default(initial_p);
+    _ki.set_and_default(initial_i);
+    _kd.set_and_default(initial_d);
+    _kff.set_and_default(initial_ff);
+    _kimax.set_and_default(initial_imax);
+    _filt_E_hz.set_and_default(initial_filt_E_hz);
+    _filt_D_hz.set_and_default(initial_filt_D_hz);
 
     // reset input filter to first value received
     _reset_filter = true;
diff --git a/libraries/AC_PID/AC_PI_2D.cpp b/libraries/AC_PID/AC_PI_2D.cpp
index 45c38145d0..131abb6383 100644
--- a/libraries/AC_PID/AC_PI_2D.cpp
+++ b/libraries/AC_PID/AC_PI_2D.cpp
@@ -36,9 +36,10 @@ AC_PI_2D::AC_PI_2D(float initial_p, float initial_i, float initial_imax, float i
     // load parameter values from eeprom
     AP_Param::setup_object_defaults(this, var_info);
 
-    _kp = initial_p;
-    _ki = initial_i;
-    _imax = fabsf(initial_imax);
+    _kp.set_and_default(initial_p);
+    _ki.set_and_default(initial_i);
+    _imax.set_and_default(initial_imax);
+    _filt_hz.set_and_default(initial_filt_hz);
     filt_hz(initial_filt_hz);
 
     // reset input filter to first value received
diff --git a/libraries/AC_PID/AC_P_1D.cpp b/libraries/AC_PID/AC_P_1D.cpp
index 164c0a4772..7827b1de2f 100644
--- a/libraries/AC_PID/AC_P_1D.cpp
+++ b/libraries/AC_PID/AC_P_1D.cpp
@@ -19,7 +19,7 @@ AC_P_1D::AC_P_1D(float initial_p, float dt) :
     // load parameter values from eeprom
     AP_Param::setup_object_defaults(this, var_info);
 
-    _kp = initial_p;
+    _kp.set_and_default(initial_p);
 }
 
 // update_all - set target and measured inputs to P controller and calculate outputs
diff --git a/libraries/AC_PID/AC_P_2D.cpp b/libraries/AC_PID/AC_P_2D.cpp
index f7478100fc..a1e46cf8a4 100644
--- a/libraries/AC_PID/AC_P_2D.cpp
+++ b/libraries/AC_PID/AC_P_2D.cpp
@@ -19,7 +19,7 @@ AC_P_2D::AC_P_2D(float initial_p, float dt) :
     // load parameter values from eeprom
     AP_Param::setup_object_defaults(this, var_info);
 
-    _kp = initial_p;
+    _kp.set_and_default(initial_p);
 }
 
 // update_all - set target and measured inputs to P controller and calculate outputs