diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 956fcd4547..6756587565 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -18,9 +18,9 @@
 // TODO: change the name or move to AP_Math? eliminate in favor of degrees(100)?
 #define AC_ATTITUDE_CONTROL_DEGX100                           5729.57795f      // constant to convert from radians to centidegrees
 
-#define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MIN_RADSS             radians(360.0f)  // minimum body-frame acceleration limit for the stability controller (for roll and pitch axis)
+#define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MIN_RADSS             radians(40.0f)   // minimum body-frame acceleration limit for the stability controller (for roll and pitch axis)
 #define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MAX_RADSS             radians(720.0f)  // maximum body-frame acceleration limit for the stability controller (for roll and pitch axis)
-#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MIN_RADSS              radians(90.0f)   // minimum body-frame acceleration limit for the stability controller (for yaw axis)
+#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MIN_RADSS              radians(10.0f)   // minimum body-frame acceleration limit for the stability controller (for yaw axis)
 #define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX_RADSS              radians(360.0f)  // maximum body-frame acceleration limit for the stability controller (for yaw axis)
 #define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT_CDS              1000      // constraint on yaw angle error in degrees.  This should lead to maximum turn rate of 10deg/sed * Stab Rate P so by default will be 45deg/sec.
 #define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT_CDSS         110000.0f // default maximum acceleration for roll/pitch axis in centidegrees/sec/sec