diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index a3729d3589..5017a66eae 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -848,13 +848,13 @@ const AP_Param::Info Plane::var_info[] = {
       (const void *)&plane.quadplane.attitude_control,
       {group_info : AC_AttitudeControl_Multi::var_info}, AP_PARAM_FLAG_POINTER },
     
-    // @Group: RLL2SRV_
+    // @Group: RLL
     // @Path: ../libraries/APM_Control/AP_RollController.cpp
-	GOBJECT(rollController,         "RLL2SRV_",   AP_RollController),
+    GOBJECT(rollController,         "RLL",   AP_RollController),
 
-    // @Group: PTCH2SRV_
+    // @Group: PTCH
     // @Path: ../libraries/APM_Control/AP_PitchController.cpp
-	GOBJECT(pitchController,        "PTCH2SRV_",  AP_PitchController),
+    GOBJECT(pitchController,        "PTCH",  AP_PitchController),
 
     // @Group: YAW2SRV_
     // @Path: ../libraries/APM_Control/AP_YawController.cpp
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 1d024be225..fe33242917 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -38,6 +38,9 @@ void Plane::init_ardupilot()
     can_mgr.init();
 #endif
 
+    rollController.convert_pid();
+    pitchController.convert_pid();
+
     // initialise rc channels including setting mode
     rc().init();