diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index b04978bf2b..5cc21d4a4f 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -737,13 +737,14 @@ void Plane::update_flight_mode(void)
     case QLAND:
     case QRTL: {
         // set nav_roll and nav_pitch using sticks
-        nav_roll_cd  = channel_roll->norm_input() * roll_limit_cd;
-        nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit_cd, roll_limit_cd);
+        int16_t roll_limit = MIN(roll_limit_cd, quadplane.aparm.angle_max);
+        nav_roll_cd  = channel_roll->norm_input() * roll_limit;
+        nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit, roll_limit);
         float pitch_input = channel_pitch->norm_input();
         if (pitch_input > 0) {
-            nav_pitch_cd = pitch_input * aparm.pitch_limit_max_cd;
+            nav_pitch_cd = pitch_input * MIN(aparm.pitch_limit_max_cd, quadplane.aparm.angle_max);
         } else {
-            nav_pitch_cd = -(pitch_input * pitch_limit_min_cd);
+            nav_pitch_cd = pitch_input * MIN(-pitch_limit_min_cd, quadplane.aparm.angle_max);
         }
         nav_pitch_cd = constrain_int32(nav_pitch_cd, pitch_limit_min_cd, aparm.pitch_limit_max_cd.get());
         break;