diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
index 77edea2a1f..1d47521cfd 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@@ -33,15 +33,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] PROGMEM = {
     // @User: Advanced
     AP_GROUPINFO("SLEW_YAW",    2, AC_AttitudeControl_Heli, _slew_yaw, AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT),
 
-    // @Param: ACCEL_RP_MAX
-    // @DisplayName: Acceleration Max for Roll/Pitch
-    // @Description: Maximum acceleration in roll/pitch axis
-    // @Units: Centi-Degrees/Sec/Sec
-    // @Range: 0 180000
-    // @Increment: 1000
-    // @Values: 0:Disabled, 72000:Slow, 108000:Medium, 162000:Fast
-    // @User: Advanced
-    AP_GROUPINFO("ACCEL_RP_MAX", 3, AC_AttitudeControl_Heli, _accel_rp_max, AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT),
+    // 3 was for ACCEL_RP_MAX
 
     // @Param: ACCEL_Y_MAX
     // @DisplayName: Acceleration Max for Yaw
@@ -51,7 +43,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] PROGMEM = {
     // @Values: 0:Disabled, 18000:Slow, 36000:Medium, 54000:Fast
     // @Increment: 1000
     // @User: Advanced
-    AP_GROUPINFO("ACCEL_Y_MAX",  4, AC_AttitudeControl_Heli, _accel_y_max, AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT),
+    AP_GROUPINFO("ACCEL_Y_MAX",  4, AC_AttitudeControl_Heli, _accel_yaw_max, AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT),
 
     // @Param: RATE_FF_ENAB
     // @DisplayName: Rate Feedforward Enable
@@ -60,6 +52,26 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] PROGMEM = {
     // @User: Advanced
     AP_GROUPINFO("RATE_FF_ENAB", 5, AC_AttitudeControl_Heli, _rate_bf_ff_enabled, AC_ATTITUDE_CONTROL_RATE_BF_FF_DEFAULT),
 
+    // @Param: ACCEL_R_MAX
+    // @DisplayName: Acceleration Max for Roll
+    // @Description: Maximum acceleration in roll axis
+    // @Units: Centi-Degrees/Sec/Sec
+    // @Range: 0 180000
+    // @Increment: 1000
+    // @Values: 0:Disabled, 72000:Slow, 108000:Medium, 162000:Fast
+    // @User: Advanced
+    AP_GROUPINFO("ACCEL_R_MAX", 6, AC_AttitudeControl_Heli, _accel_roll_max, AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT),
+
+    // @Param: ACCEL_P_MAX
+    // @DisplayName: Acceleration Max for Pitch
+    // @Description: Maximum acceleration in pitch axis
+    // @Units: Centi-Degrees/Sec/Sec
+    // @Range: 0 180000
+    // @Increment: 1000
+    // @Values: 0:Disabled, 72000:Slow, 108000:Medium, 162000:Fast
+    // @User: Advanced
+    AP_GROUPINFO("ACCEL_P_MAX", 7, AC_AttitudeControl_Heli, _accel_pitch_max, AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT),
+
     AP_GROUPEND
 };
 
@@ -78,8 +90,8 @@ void AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(float roll_pass
     _rate_bf_desired.y = _ahrs.get_gyro().y * AC_ATTITUDE_CONTROL_DEGX100;
 
     // accel limit desired yaw rate
-    if (_accel_y_max > 0.0f) {
-        float rate_change_limit = _accel_y_max * _dt;
+    if (_accel_yaw_max > 0.0f) {
+        float rate_change_limit = _accel_yaw_max * _dt;
         float rate_change = yaw_rate_bf - _rate_bf_desired.z;
         rate_change = constrain_float(rate_change, -rate_change_limit, rate_change_limit);
         _rate_bf_desired.z += rate_change;