diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
index 38d559da28..c4b6adb74d 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@@ -18,14 +18,14 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Param: RAT_RLL_P
     // @DisplayName: Roll axis rate controller P gain
     // @Description: Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output
-    // @Range: 0.08 0.35
+    // @Range: 0.0 0.35
     // @Increment: 0.005
     // @User: Standard
 
     // @Param: RAT_RLL_I
     // @DisplayName: Roll axis rate controller I gain
     // @Description: Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate
-    // @Range: 0.01 0.6
+    // @Range: 0.0 0.6
     // @Increment: 0.01
     // @User: Standard
 
@@ -45,14 +45,14 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Param: RAT_RLL_D
     // @DisplayName: Roll axis rate controller D gain
     // @Description: Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate
-    // @Range: 0.001 0.03
+    // @Range: 0.0 0.03
     // @Increment: 0.001
     // @User: Standard
 
     // @Param: RAT_RLL_VFF
     // @DisplayName: Roll axis rate controller feed forward
     // @Description: Roll axis rate controller feed forward
-    // @Range: 0 0.5
+    // @Range: 0.05 0.5
     // @Increment: 0.001
     // @User: Standard
 
@@ -92,14 +92,14 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Param: RAT_PIT_P
     // @DisplayName: Pitch axis rate controller P gain
     // @Description: Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
-    // @Range: 0.08 0.35
+    // @Range: 0.0 0.35
     // @Increment: 0.005
     // @User: Standard
 
     // @Param: RAT_PIT_I
     // @DisplayName: Pitch axis rate controller I gain
     // @Description: Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate
-    // @Range: 0.01 0.6
+    // @Range: 0.0 0.6
     // @Increment: 0.01
     // @User: Standard
 
@@ -119,14 +119,14 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Param: RAT_PIT_D
     // @DisplayName: Pitch axis rate controller D gain
     // @Description: Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate
-    // @Range: 0.001 0.03
+    // @Range: 0.0 0.03
     // @Increment: 0.001
     // @User: Standard
 
     // @Param: RAT_PIT_VFF
     // @DisplayName: Pitch axis rate controller feed forward
     // @Description: Pitch axis rate controller feed forward
-    // @Range: 0 0.5
+    // @Range: 0.05 0.5
     // @Increment: 0.001
     // @User: Standard
 
@@ -173,7 +173,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Param: RAT_YAW_I
     // @DisplayName: Yaw axis rate controller I gain
     // @Description: Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate
-    // @Range: 0.01 0.06
+    // @Range: 0.01 0.2
     // @Increment: 0.01
     // @User: Standard
 
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 5bf72e7c19..3322b3d441 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -140,7 +140,7 @@ const AP_Param::GroupInfo AC_PosControl::var_info[] = {
     // @Param: _ACCZ_P
     // @DisplayName: Acceleration (vertical) controller P gain
     // @Description: Acceleration (vertical) controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output
-    // @Range: 0.500 1.500
+    // @Range: 0.200 1.500
     // @Increment: 0.05
     // @User: Standard