diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index 5b9c9e15d0..4f70eef773 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -3,6 +3,16 @@
 
 extern const AP_HAL::HAL& hal;
 
+// maximum velocities and accelerations
+#define WPNAV_ACCELERATION              250.0f      // maximum horizontal acceleration in cm/s/s that wp navigation will request
+#define WPNAV_WP_SPEED                 1000.0f      // default horizontal speed between waypoints in cm/s
+#define WPNAV_WP_SPEED_MIN               20.0f      // minimum horizontal speed between waypoints in cm/s
+#define WPNAV_WP_RADIUS                 200.0f      // default waypoint radius in cm
+#define WPNAV_WP_RADIUS_MIN               5.0f      // minimum waypoint radius in cm
+#define WPNAV_WP_SPEED_UP               250.0f      // default maximum climb velocity
+#define WPNAV_WP_SPEED_DOWN             150.0f      // default maximum descent velocity
+#define WPNAV_WP_ACCEL_Z_DEFAULT        100.0f      // default vertical acceleration between waypoints in cm/s/s
+
 const AP_Param::GroupInfo AC_WPNav::var_info[] = {
     // index 0 was used for the old orientation matrix
 
diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index 389fea2362..dee8379b56 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -12,18 +12,6 @@
 #include <AP_Terrain/AP_Terrain.h>
 #include <AC_Avoidance/AC_Avoid.h>                 // Stop at fence library
 
-// maximum velocities and accelerations
-#define WPNAV_ACCELERATION              250.0f      // maximum horizontal acceleration in cm/s/s that wp navigation will request
-#define WPNAV_WP_SPEED                 1000.0f      // default horizontal speed between waypoints in cm/s
-#define WPNAV_WP_SPEED_MIN               20.0f      // minimum horizontal speed between waypoints in cm/s
-#define WPNAV_WP_RADIUS                 200.0f      // default waypoint radius in cm
-#define WPNAV_WP_RADIUS_MIN               5.0f      // minimum waypoint radius in cm
-
-#define WPNAV_WP_SPEED_UP               250.0f      // default maximum climb velocity
-#define WPNAV_WP_SPEED_DOWN             150.0f      // default maximum descent velocity
-
-#define WPNAV_WP_ACCEL_Z_DEFAULT        100.0f      // default vertical acceleration between waypoints in cm/s/s
-
 class AC_WPNav
 {
 public: