diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
index db4fcc26d6..2257e0d1ae 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
@@ -329,10 +329,10 @@ void AC_AttitudeControl_Multi::rate_controller_run()
 
     Vector3f gyro_latest = _ahrs.get_gyro_latest();
 
-    _motors.set_roll(get_rate_roll_pid().update_all(_rate_target_ang_vel.x, gyro_latest.x, _motors.limit.roll_pitch));
+    _motors.set_roll(get_rate_roll_pid().update_all(_rate_target_ang_vel.x, gyro_latest.x, _motors.limit.roll));
     _motors.set_roll_ff(get_rate_roll_pid().get_ff());
 
-    _motors.set_pitch(get_rate_pitch_pid().update_all(_rate_target_ang_vel.y, gyro_latest.y, _motors.limit.roll_pitch));
+    _motors.set_pitch(get_rate_pitch_pid().update_all(_rate_target_ang_vel.y, gyro_latest.y, _motors.limit.pitch));
     _motors.set_pitch_ff(get_rate_pitch_pid().get_ff());
 
     _motors.set_yaw(get_rate_yaw_pid().update_all(_rate_target_ang_vel.z, gyro_latest.z, _motors.limit.yaw));
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
index 283124e5f9..f08d5e5061 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
@@ -335,8 +335,8 @@ void AC_AttitudeControl_Sub::rate_controller_run()
     update_throttle_rpy_mix();
 
     Vector3f gyro_latest = _ahrs.get_gyro_latest();
-    _motors.set_roll(get_rate_roll_pid().update_all(_rate_target_ang_vel.x, gyro_latest.x, _motors.limit.roll_pitch));
-    _motors.set_pitch(get_rate_pitch_pid().update_all(_rate_target_ang_vel.y, gyro_latest.y, _motors.limit.roll_pitch));
+    _motors.set_roll(get_rate_roll_pid().update_all(_rate_target_ang_vel.x, gyro_latest.x, _motors.limit.roll));
+    _motors.set_pitch(get_rate_pitch_pid().update_all(_rate_target_ang_vel.y, gyro_latest.y, _motors.limit.pitch));
     _motors.set_yaw(get_rate_yaw_pid().update_all(_rate_target_ang_vel.z, gyro_latest.z, _motors.limit.yaw));
 
     control_monitor_update();