diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 3001538085..e6df8b4120 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -108,7 +108,6 @@ static int16_t
 get_acro_roll(int32_t target_rate)
 {
 	target_rate = target_rate * g.acro_p;
-	target_rate = constrain(target_rate, -10000, 10000);
 	return get_rate_roll(target_rate);
 }
 
@@ -116,7 +115,6 @@ static int16_t
 get_acro_pitch(int32_t target_rate)
 {
 	target_rate = target_rate * g.acro_p;
-	target_rate = constrain(target_rate, -10000, 10000);
 	return get_rate_pitch(target_rate);
 }
 
@@ -124,7 +122,6 @@ static int16_t
 get_acro_yaw(int32_t target_rate)
 {
 	target_rate = g.pi_stabilize_yaw.get_p(target_rate);
-	target_rate = constrain(target_rate, -15000, 15000);
 	return get_rate_yaw(target_rate);
 }