diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h
index 737100ebe1..7d28fc8e7e 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@@ -16,7 +16,7 @@
 // position controller default definitions
 #define POSCONTROL_ACCELERATION_MIN             50.0f   // minimum horizontal acceleration in cm/s/s - used for sanity checking acceleration in leash length calculation
 #define POSCONTROL_ACCEL_XY                     100.0f  // default horizontal acceleration in cm/s/s.  This is overwritten by waypoint and loiter controllers
-#define POSCONTROL_ACCEL_XY_MAX                 980.0f  // max horizontal acceleration in cm/s/s that the position velocity controller will ask from the lower accel controller
+#define POSCONTROL_ACCEL_XY_MAX                 (GRAVITY_MSS*100)  // max horizontal acceleration in cm/s/s that the position velocity controller will ask from the lower accel controller
 #define POSCONTROL_STOPPING_DIST_UP_MAX         300.0f  // max stopping distance (in cm) vertically while climbing
 #define POSCONTROL_STOPPING_DIST_DOWN_MAX       200.0f  // max stopping distance (in cm) vertically while descending