diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index abc84e0dcb..8fac81be40 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -1016,8 +1016,8 @@ void AC_PosControl::accel_to_lean_angles(float dt, float ekfNavVelGainScaler, bo
 void AC_PosControl::lean_angles_to_accel(float& accel_x_cmss, float& accel_y_cmss) const
 {
     // rotate our roll, pitch angles into lat/lon frame
-    accel_x_cmss = (GRAVITY_MSS * 100) * (-(_ahrs.cos_yaw() * _ahrs.sin_pitch() / MAX(_ahrs.cos_pitch(),0.5f)) - _ahrs.sin_yaw() * _ahrs.sin_roll() / MAX(_ahrs.cos_roll(),0.5f));
-    accel_y_cmss = (GRAVITY_MSS * 100) * (-(_ahrs.sin_yaw() * _ahrs.sin_pitch() / MAX(_ahrs.cos_pitch(),0.5f)) + _ahrs.cos_yaw() * _ahrs.sin_roll() / MAX(_ahrs.cos_roll(),0.5f));
+    accel_x_cmss = (GRAVITY_MSS * 100) * (-(_ahrs.cos_yaw() * _ahrs.sin_pitch() / MAX(_ahrs.cos_pitch(), 0.5f)) - _ahrs.sin_yaw() * _ahrs.sin_roll() / MAX(_ahrs.cos_roll()*_ahrs.cos_pitch(), 0.5f));
+    accel_y_cmss = (GRAVITY_MSS * 100) * (-(_ahrs.sin_yaw() * _ahrs.sin_pitch() / MAX(_ahrs.cos_pitch(), 0.5f)) + _ahrs.cos_yaw() * _ahrs.sin_roll() / MAX(_ahrs.cos_roll()*_ahrs.cos_pitch(), 0.5f));
 }
 
 /// calc_leash_length - calculates the horizontal leash length given a maximum speed, acceleration and position kP gain