diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 4e70a1a289..c259051c41 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -21,8 +21,8 @@
 #define AC_ATTITUDE_CONTROL_RATE_RP_MAX_DEFAULT         18000   // maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
 #define AC_ATTITUDE_CONTROL_RATE_Y_MAX_DEFAULT          18000   // maximum rotation rate on yaw axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
 #define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT            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        90000   // default maximum acceleration for roll/pitch axis in centi-degrees/sec/sec
-#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT         18000   // default maximum acceleration for yaw axis in centi-degrees/sec/sec
+#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT        126000  // default maximum acceleration for roll/pitch axis in centi-degrees/sec/sec
+#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT         36000   // default maximum acceleration for yaw axis in centi-degrees/sec/sec
 
 #define AC_ATTITUDE_RATE_CONTROLLER_TIMEOUT             1.0f    // body-frame rate controller timeout in seconds
 #define AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX          5000.0f // body-frame rate controller maximum output (for roll-pitch axis)