diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index c09478c3fa..a02c54ce57 100755
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -7,10 +7,10 @@
 #include "AC_PID.h"
 
 const AP_Param::GroupInfo AC_PID::var_info[] PROGMEM = {
-	AP_GROUPINFO("P",    0, AC_PID, _kp),
-	AP_GROUPINFO("I",    1, AC_PID, _ki),
-	AP_GROUPINFO("D",    2, AC_PID, _kd),
-	AP_GROUPINFO("IMAX", 3, AC_PID, _imax),
+	AP_GROUPINFO("P",    0, AC_PID, _kp, 0),
+	AP_GROUPINFO("I",    1, AC_PID, _ki, 0),
+	AP_GROUPINFO("D",    2, AC_PID, _kd, 0),
+	AP_GROUPINFO("IMAX", 3, AC_PID, _imax, 0),
 	AP_GROUPEND
 };
 
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index 536317335b..62dcd60254 100755
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -28,14 +28,12 @@ public:
 	    const float &initial_p = 0.0,
 	    const float &initial_i = 0.0,
 	    const float &initial_d = 0.0,
-	    const int16_t &initial_imax = 0.0) :
-
-		_kp  (initial_p),
-		_ki  (initial_i),
-		_kd  (initial_d),
-		_imax(abs(initial_imax))
+	    const int16_t &initial_imax = 0.0)
 	{
-		// no need for explicit load, assuming that the main code uses AP_Param::load_all.
+		_kp = initial_p;
+		_ki = initial_i;
+		_kd = initial_d;
+		_imax = abs(initial_imax);
 	}
 
 	/// Iterate the PID, return the new control value
diff --git a/libraries/APM_PI/APM_PI.cpp b/libraries/APM_PI/APM_PI.cpp
index ed4bbd64de..14354c7df2 100644
--- a/libraries/APM_PI/APM_PI.cpp
+++ b/libraries/APM_PI/APM_PI.cpp
@@ -8,9 +8,9 @@
 #include "APM_PI.h"
 
 const AP_Param::GroupInfo APM_PI::var_info[] PROGMEM = {
-	AP_GROUPINFO("P",    0, APM_PI, _kp),
-	AP_GROUPINFO("I",    1, APM_PI, _ki),
-	AP_GROUPINFO("IMAX", 2, APM_PI, _imax),
+	AP_GROUPINFO("P",    0, APM_PI, _kp, 0),
+	AP_GROUPINFO("I",    1, APM_PI, _ki, 0),
+	AP_GROUPINFO("IMAX", 2, APM_PI, _imax, 0),
 	AP_GROUPEND
 };
 
diff --git a/libraries/APM_PI/APM_PI.h b/libraries/APM_PI/APM_PI.h
index e1e36144d4..cc8f8721bc 100644
--- a/libraries/APM_PI/APM_PI.h
+++ b/libraries/APM_PI/APM_PI.h
@@ -25,12 +25,11 @@ public:
 	///
 	APM_PI(const float &initial_p = 0.0,
 		   const float &initial_i = 0.0,
-		   const int16_t &initial_imax = 0.0) :
-		_kp  (initial_p),
-		_ki  (initial_i),
-		_imax(initial_imax)
+		   const int16_t &initial_imax = 0.0)
 	{
-		// no need for explicit load, assuming that the main code uses AP_Var::load_all.
+		_kp = initial_p;
+		_ki = initial_i;
+		_imax = initial_imax;
 	}
 
 	/// Iterate the PI, return the new control value
diff --git a/libraries/PID/PID.cpp b/libraries/PID/PID.cpp
index 931cc52872..47a03ebf5d 100644
--- a/libraries/PID/PID.cpp
+++ b/libraries/PID/PID.cpp
@@ -8,10 +8,10 @@
 #include "PID.h"
 
 const AP_Param::GroupInfo PID::var_info[] PROGMEM = {
-	AP_GROUPINFO("P",    0, PID, _kp),
-	AP_GROUPINFO("I",    1, PID, _ki),
-	AP_GROUPINFO("D",    2, PID, _kd),
-	AP_GROUPINFO("IMAX", 3, PID, _imax),
+	AP_GROUPINFO("P",    0, PID, _kp, 0),
+	AP_GROUPINFO("I",    1, PID, _ki, 0),
+	AP_GROUPINFO("D",    2, PID, _kd, 0),
+	AP_GROUPINFO("IMAX", 3, PID, _imax, 0),
 	AP_GROUPEND
 };
 
diff --git a/libraries/PID/PID.h b/libraries/PID/PID.h
index 9de654f8e1..9b0fbd5b52 100644
--- a/libraries/PID/PID.h
+++ b/libraries/PID/PID.h
@@ -17,12 +17,12 @@ public:
     PID(const float &initial_p = 0.0,
         const float &initial_i = 0.0,
         const float &initial_d = 0.0,
-        const int16_t &initial_imax = 0) :
-		_kp  (initial_p),
-		_ki  (initial_i),
-		_kd  (initial_d),
-		_imax(initial_imax)
+        const int16_t &initial_imax = 0)
     {
+		_kp = initial_p;
+		_ki = initial_i;
+		_kd = initial_d;
+		_imax = initial_imax;
 	}
 
 	/// Iterate the PID, return the new control value