diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
index 36c53a7070..362400f732 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@@ -268,7 +268,7 @@ void AC_AttitudeControl_Heli::rate_controller_run()
 // Update Alt_Hold angle maximum
 void AC_AttitudeControl_Heli::update_althold_lean_angle_max(float throttle_in)
 {
-    float althold_lean_angle_max = acos(constrain_float(_throttle_in/AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX, 0.0f, 1.0f));
+    float althold_lean_angle_max = acos(constrain_float(_throttle_in/AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX, 0.0f, 1.0f));
     _althold_lean_angle_max = _althold_lean_angle_max + (_dt/(_dt+_angle_limit_tc))*(althold_lean_angle_max-_althold_lean_angle_max);
 }
 
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
index 0d3214078e..5c26743461 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
@@ -22,6 +22,7 @@
 #define AC_ATC_HELI_RATE_YAW_FF                     0.024f
 #define AC_ATC_HELI_RATE_YAW_FILT_HZ                20.0f
 
+#define AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX   0.95f    // Heli's use 95% of max collective before limiting frame angle
 #define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE  0.02f
 #define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER          10.0f
 #define AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER          10.0f