diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index ddb3139150..33256088a7 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -12,7 +12,7 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] PROGMEM = {
     // @DisplayName: Angle Rate Roll-Pitch max
     // @Description: maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
     // @Units: Centi-Degrees/Sec
-    // @Range: 90000 250000
+    // @Range: 9000 36000
     // @Increment: 500
     // @User: Advanced
     AP_GROUPINFO("RATE_RP_MAX", 0, AC_AttitudeControl, _angle_rate_rp_max, AC_ATTITUDE_CONTROL_RATE_RP_MAX_DEFAULT),
@@ -21,7 +21,7 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] PROGMEM = {
     // @DisplayName: Angle Rate Yaw max
     // @Description: maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
     // @Units: Centi-Degrees/Sec
-    // @Range: 90000 250000
+    // @Range: 4500 18000
     // @Increment: 500
     // @User: Advanced
     AP_GROUPINFO("RATE_Y_MAX",  1, AC_AttitudeControl, _angle_rate_y_max, AC_ATTITUDE_CONTROL_RATE_Y_MAX_DEFAULT),
@@ -39,7 +39,9 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] PROGMEM = {
     // @DisplayName: Acceleration Max for Roll/Pitch
     // @Description: Maximum acceleration in roll/pitch axis
     // @Units: Centi-Degrees/Sec/Sec
-    // @Values: 36000:Very Soft, 54000:Soft, 90000:Medium, 126000:Crisp, 162000:Very Crisp
+    // @Range: 0 180000
+    // @Increment: 1000
+    // @Values: 0:Disabled, 72000:Slow, 108000:Medium, 162000:Fast
     // @User: Advanced
     AP_GROUPINFO("ACCEL_RP_MAX", 3, AC_AttitudeControl, _accel_rp_max, AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT),
 
@@ -47,8 +49,9 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] PROGMEM = {
     // @DisplayName: Acceleration Max for Yaw
     // @Description: Maximum acceleration in yaw axis
     // @Units: Centi-Degrees/Sec/Sec
-    // @Range: 20000 100000
-    // @Increment: 100
+    // @Range: 0 72000
+    // @Values: 0:Disabled, 18000:Slow, 36000:Medium, 54000:Fast
+    // @Increment: 1000
     // @User: Advanced
     AP_GROUPINFO("ACCEL_Y_MAX",  4, AC_AttitudeControl, _accel_y_max, AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT),
 
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index ed9da8b1c2..9b22963f53 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -19,10 +19,10 @@
 // To-Do: change the name or move to AP_Math?
 #define AC_ATTITUDE_CONTROL_DEGX100 5729.57795f                 // constant to convert from radians to centi-degrees
 #define AC_ATTITUDE_CONTROL_RATE_RP_MAX_DEFAULT         18000   // maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
-#define AC_ATTITUDE_CONTROL_RATE_Y_MAX_DEFAULT          18000   // maximum rotation rate on yaw axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
+#define AC_ATTITUDE_CONTROL_RATE_Y_MAX_DEFAULT          9000    // maximum rotation rate on yaw axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
 #define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT            1000    // constraint on yaw angle error in degrees.  This should lead to maximum turn rate of 10deg/sed * Stab Rate P so by default will be 45deg/sec.
-#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT        126000  // default maximum acceleration for roll/pitch axis in centi-degrees/sec/sec
-#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT         36000   // default maximum acceleration for yaw axis in centi-degrees/sec/sec
+#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT        0       // default maximum acceleration for roll/pitch axis in centi-degrees/sec/sec
+#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT         0       // default maximum acceleration for yaw axis in centi-degrees/sec/sec
 
 #define AC_ATTITUDE_RATE_CONTROLLER_TIMEOUT             1.0f    // body-frame rate controller timeout in seconds
 #define AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX          5000.0f // body-frame rate controller maximum output (for roll-pitch axis)
@@ -41,7 +41,7 @@
 #define AC_ATTITUDE_RATE_RP_PID_DTERM_FILTER            20      // D-term filter rate cutoff frequency for Roll and Pitch rate controllers
 #define AC_ATTITUDE_RATE_Y_PID_DTERM_FILTER             5       // D-term filter rate cutoff frequency for Yaw rate controller
 
-#define AC_ATTITUDE_CONTROL_RATE_BF_FF_DEFAULT          1       // body-frame rate feedforward enabled by default
+#define AC_ATTITUDE_CONTROL_RATE_BF_FF_DEFAULT          0       // body-frame rate feedforward enabled by default
 
 class AC_AttitudeControl {
 public: