diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
index f35f70572b..e3d7a16bb4 100644
--- a/ArduCopter/Attitude.cpp
+++ b/ArduCopter/Attitude.cpp
@@ -18,7 +18,7 @@ void Copter::get_pilot_desired_lean_angles(float roll_in, float pitch_in, float
     angle_max = constrain_float(angle_max, 1000, aparm.angle_max);
 
     // scale roll_in, pitch_in to ANGLE_MAX parameter range
-    float scaler = aparm.angle_max/(float)ROLL_PITCH_INPUT_MAX;
+    float scaler = aparm.angle_max/(float)ROLL_PITCH_YAW_INPUT_MAX;
     roll_in *= scaler;
     pitch_in *= scaler;
 
@@ -58,10 +58,10 @@ float Copter::get_pilot_desired_yaw_rate(int16_t stick_angle)
         }
 
         // yaw expo
-        y_in = float(stick_angle)/ROLL_PITCH_INPUT_MAX;
+        y_in = float(stick_angle)/ROLL_PITCH_YAW_INPUT_MAX;
         y_in3 = y_in*y_in*y_in;
         y_out = (g2.acro_y_expo * y_in3) + ((1.0f - g2.acro_y_expo) * y_in);
-        yaw_request = ROLL_PITCH_INPUT_MAX * y_out * g.acro_yaw_p;
+        yaw_request = ROLL_PITCH_YAW_INPUT_MAX * y_out * g.acro_yaw_p;
     }
     // convert pilot input to the desired yaw rate
     return yaw_request;
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 4fa2e74711..196136aba8 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -508,8 +508,8 @@
 //////////////////////////////////////////////////////////////////////////////
 // Stabilize Rate Control
 //
-#ifndef ROLL_PITCH_INPUT_MAX
- # define ROLL_PITCH_INPUT_MAX      4500            // roll, pitch input range
+#ifndef ROLL_PITCH_YAW_INPUT_MAX
+ # define ROLL_PITCH_YAW_INPUT_MAX      4500        // roll, pitch and yaw input range
 #endif
 #ifndef DEFAULT_ANGLE_MAX
  # define DEFAULT_ANGLE_MAX         4500            // ANGLE_MAX parameters default value
diff --git a/ArduCopter/control_acro.cpp b/ArduCopter/control_acro.cpp
index 6e783c1624..65199372c2 100644
--- a/ArduCopter/control_acro.cpp
+++ b/ArduCopter/control_acro.cpp
@@ -62,8 +62,8 @@ void Copter::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, in
     // apply circular limit to pitch and roll inputs
     float total_in = norm(pitch_in, roll_in);
 
-    if (total_in > ROLL_PITCH_INPUT_MAX) {
-        float ratio = (float)ROLL_PITCH_INPUT_MAX / total_in;
+    if (total_in > ROLL_PITCH_YAW_INPUT_MAX) {
+        float ratio = (float)ROLL_PITCH_YAW_INPUT_MAX / total_in;
         roll_in *= ratio;
         pitch_in *= ratio;
     }
@@ -82,16 +82,16 @@ void Copter::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, in
         }
 
         // roll expo
-        rp_in = float(roll_in)/ROLL_PITCH_INPUT_MAX;
+        rp_in = float(roll_in)/ROLL_PITCH_YAW_INPUT_MAX;
         rp_in3 = rp_in*rp_in*rp_in;
         rp_out = (g.acro_rp_expo * rp_in3) + ((1.0f - g.acro_rp_expo) * rp_in);
-        rate_bf_request.x = ROLL_PITCH_INPUT_MAX * rp_out * g.acro_rp_p;
+        rate_bf_request.x = ROLL_PITCH_YAW_INPUT_MAX * rp_out * g.acro_rp_p;
 
         // pitch expo
-        rp_in = float(pitch_in)/ROLL_PITCH_INPUT_MAX;
+        rp_in = float(pitch_in)/ROLL_PITCH_YAW_INPUT_MAX;
         rp_in3 = rp_in*rp_in*rp_in;
         rp_out = (g.acro_rp_expo * rp_in3) + ((1.0f - g.acro_rp_expo) * rp_in);
-        rate_bf_request.y = ROLL_PITCH_INPUT_MAX * rp_out * g.acro_rp_p;
+        rate_bf_request.y = ROLL_PITCH_YAW_INPUT_MAX * rp_out * g.acro_rp_p;
     }
 
     // calculate yaw rate request
diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index 3370551c2b..c3b661965f 100644
--- a/ArduCopter/radio.cpp
+++ b/ArduCopter/radio.cpp
@@ -27,9 +27,9 @@ void Copter::init_rc_in()
     channel_yaw      = RC_Channel::rc_channel(rcmap.yaw()-1);
 
     // set rc channel ranges
-    channel_roll->set_angle(ROLL_PITCH_INPUT_MAX);
-    channel_pitch->set_angle(ROLL_PITCH_INPUT_MAX);
-    channel_yaw->set_angle(4500);
+    channel_roll->set_angle(ROLL_PITCH_YAW_INPUT_MAX);
+    channel_pitch->set_angle(ROLL_PITCH_YAW_INPUT_MAX);
+    channel_yaw->set_angle(ROLL_PITCH_YAW_INPUT_MAX);
     channel_throttle->set_range(0, 1000);
 
     channel_roll->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);