diff --git a/AntennaTracker/Parameters.h b/AntennaTracker/Parameters.h
index 57504182f3..9418b52225 100644
--- a/AntennaTracker/Parameters.h
+++ b/AntennaTracker/Parameters.h
@@ -88,6 +88,8 @@ public:
         k_param_onoff_pitch_mintime,
         k_param_yaw_trim,
         k_param_pitch_trim,
+        k_param_yaw_range,
+        k_param_pitch_range,            // 136
 
         k_param_channel_yaw = 200,
         k_param_channel_pitch,
@@ -132,6 +134,8 @@ public:
     AP_Float onoff_pitch_mintime;
     AP_Float yaw_trim;
     AP_Float pitch_trim;
+    AP_Int16 yaw_range;             // yaw axis total range of motion in degrees
+    AP_Int16 pitch_range;           // pitch axis total range of motion in degrees
 
     // Waypoints
     //
diff --git a/AntennaTracker/Parameters.pde b/AntennaTracker/Parameters.pde
index 0caac6b2d7..a0534fbb15 100644
--- a/AntennaTracker/Parameters.pde
+++ b/AntennaTracker/Parameters.pde
@@ -192,6 +192,24 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
     GSCALAR(pitch_trim,              "PITCH_TRIM", 0),
 
+    // @Param: YAW_RANGE
+    // @DisplayName: Yaw Angle Range
+    // @Description: Yaw axis total range of motion in degrees
+    // @Units: degrees
+    // @Increment: 0.1
+    // @Range: 0 360
+    // @User: Standard
+    GSCALAR(yaw_range,              "YAW_RANGE", YAW_RANGE_DEFAULT),
+
+    // @Param: PITCH_RANGE
+    // @DisplayName: Pitch Range
+    // @Description: Pitch axis total range of motion in degrees
+    // @Units: degrees
+    // @Increment: 0.1
+    // @Range: 0 180
+    // @User: Standard
+    GSCALAR(pitch_range,            "PITCH_RANGE", PITCH_RANGE_DEFAULT),
+
     // barometer ground calibration. The GND_ prefix is chosen for
     // compatibility with previous releases of ArduPlane
     // @Group: GND_
diff --git a/AntennaTracker/config.h b/AntennaTracker/config.h
index f7f812827a..b56baa1c11 100644
--- a/AntennaTracker/config.h
+++ b/AntennaTracker/config.h
@@ -55,6 +55,16 @@
  # define SERIAL2_BUFSIZE 256
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// yaw and pitch axis angle range defaults
+//
+#ifndef YAW_RANGE_DEFAULT
+ # define YAW_RANGE_DEFAULT 360
+#endif
+#ifndef PITCH_RANGE_DEFAULT
+ # define PITCH_RANGE_DEFAULT 180
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Tracking definitions
 //