diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 6ede0e64d3..95844e89e2 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -791,7 +791,7 @@ void AC_PosControl::init_xy_controller()
 }
 
 /// update_xy_controller - run the horizontal position controller - should be called at 100hz or higher
-void AC_PosControl::update_xy_controller(float ekfNavVelGainScaler)
+void AC_PosControl::update_xy_controller()
 {
     // compute dt
     uint32_t now = AP_HAL::millis();
@@ -812,7 +812,7 @@ void AC_PosControl::update_xy_controller(float ekfNavVelGainScaler)
     desired_vel_to_pos(dt);
 
     // run horizontal position controller
-    run_xy_controller(dt, ekfNavVelGainScaler);
+    run_xy_controller(dt);
 
     // update xy update time
     _last_update_xy_ms = now;
@@ -888,7 +888,7 @@ void AC_PosControl::init_vel_controller_xyz()
 ///     velocity targets should we set using set_desired_velocity_xy() method
 ///     callers should use get_roll() and get_pitch() methods and sent to the attitude controller
 ///     throttle targets will be sent directly to the motors
-void AC_PosControl::update_vel_controller_xy(float ekfNavVelGainScaler)
+void AC_PosControl::update_vel_controller_xy()
 {
     // capture time since last iteration
     uint32_t now = AP_HAL::millis();
@@ -910,7 +910,7 @@ void AC_PosControl::update_vel_controller_xy(float ekfNavVelGainScaler)
     desired_vel_to_pos(dt);
 
     // run position controller
-    run_xy_controller(dt, ekfNavVelGainScaler);
+    run_xy_controller(dt);
 
     // update xy update time
     _last_update_xy_ms = now;
@@ -921,9 +921,9 @@ void AC_PosControl::update_vel_controller_xy(float ekfNavVelGainScaler)
 ///     velocity targets should we set using set_desired_velocity_xyz() method
 ///     callers should use get_roll() and get_pitch() methods and sent to the attitude controller
 ///     throttle targets will be sent directly to the motors
-void AC_PosControl::update_vel_controller_xyz(float ekfNavVelGainScaler)
+void AC_PosControl::update_vel_controller_xyz()
 {
-    update_vel_controller_xy(ekfNavVelGainScaler);
+    update_vel_controller_xy();
 
     // update altitude target
     set_alt_target_from_climb_rate_ff(_vel_desired.z, _dt, false);
@@ -991,8 +991,11 @@ void AC_PosControl::desired_vel_to_pos(float nav_dt)
 ///     desired velocity (_vel_desired) is combined into final target velocity
 ///     converts desired velocities in lat/lon directions to accelerations in lat/lon frame
 ///     converts desired accelerations provided in lat/lon frame to roll/pitch angles
-void AC_PosControl::run_xy_controller(float dt, float ekfNavVelGainScaler)
+void AC_PosControl::run_xy_controller(float dt)
 {
+    float ekfGndSpdLimit, ekfNavVelGainScaler;
+    AP::ahrs_navekf().getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
+
     Vector3f curr_pos = _inav.get_position();
     float kP = ekfNavVelGainScaler * _p_pos_xy.kP(); // scale gains to compensate for noisy optical flow measurement in the EKF
 
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h
index cdc16a0a94..d8c0c0ded1 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@@ -230,7 +230,7 @@ public:
 
     /// update_xy_controller - run the horizontal position controller - should be called at 100hz or higher
     ///     when use_desired_velocity is true the desired velocity (i.e. feed forward) is incorporated at the pos_to_rate step
-    void update_xy_controller(float ekfNavVelGainScaler);
+    void update_xy_controller();
 
     /// set_target_to_stopping_point_xy - sets horizontal target to reasonable stopping position in cm from home
     void set_target_to_stopping_point_xy();
@@ -257,13 +257,13 @@ public:
     ///     velocity targets should we set using set_desired_velocity_xy() method
     ///     callers should use get_roll() and get_pitch() methods and sent to the attitude controller
     ///     throttle targets will be sent directly to the motors
-    void update_vel_controller_xy(float ekfNavVelGainScaler);
+    void update_vel_controller_xy();
     
     /// update_velocity_controller_xyz - run the velocity controller - should be called at 100hz or higher
     ///     velocity targets should we set using set_desired_velocity_xyz() method
     ///     callers should use get_roll() and get_pitch() methods and sent to the attitude controller
     ///     throttle targets will be sent directly to the motors
-    void update_vel_controller_xyz(float ekfNavVelGainScaler);
+    void update_vel_controller_xyz();
 
     /// get desired roll, pitch which should be fed into stabilize controllers
     float get_roll() const { return _roll_target; }
@@ -347,7 +347,7 @@ protected:
     ///     desired velocity (_vel_desired) is combined into final target velocity
     ///     converts desired velocities in lat/lon directions to accelerations in lat/lon frame
     ///     converts desired accelerations provided in lat/lon frame to roll/pitch angles
-    void run_xy_controller(float dt, float ekfNavVelGainScaler);
+    void run_xy_controller(float dt);
 
     /// calc_leash_length - calculates the horizontal leash length given a maximum speed, acceleration and position kP gain
     float calc_leash_length(float speed_cms, float accel_cms, float kP) const;