diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 03fda2f23d..324479e0aa 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -168,6 +168,15 @@ const AP_Param::GroupInfo AC_PosControl::var_info[] = {
     // @User: Advanced
     AP_SUBGROUPINFO(_pid_vel_xy, "_VELXY_", 6, AC_PosControl, AC_PID_2D),
 
+    // @Param: _ANGLE_MAX
+    // @DisplayName: Position Control Angle Max
+    // @Description: Maximum lean angle autopilot can request.  Set to zero to use ANGLE_MAX parameter value
+    // @Units: deg
+    // @Range: 0 45
+    // @Increment: 1
+    // @User: Advanced
+    AP_GROUPINFO("_ANGLE_MAX",  7, AC_PosControl, _lean_angle_max, 0.0f),
+
     AP_GROUPEND
 };
 
@@ -761,6 +770,15 @@ bool AC_PosControl::is_active_xy() const
     return ((AP_HAL::millis() - _last_update_xy_ms) <= POSCONTROL_ACTIVE_TIMEOUT_MS);
 }
 
+/// get_lean_angle_max_cd - returns the maximum lean angle the autopilot may request
+float AC_PosControl::get_lean_angle_max_cd() const
+{
+    if (is_zero(_lean_angle_max)) {
+        return _attitude_control.lean_angle_max();
+    }
+    return _lean_angle_max * 100.0f;
+}
+
 /// init_xy_controller - initialise the xy controller
 ///     sets target roll angle, pitch angle and I terms based on vehicle current lean angles
 ///     should be called once whenever significant changes to the position target are made
@@ -1049,21 +1067,28 @@ void AC_PosControl::run_xy_controller(float dt, float ekfNavVelGainScaler)
 
     // the following section converts desired accelerations provided in lat/lon frame to roll/pitch angles
 
-    float accel_right, accel_forward;
-
     // limit acceleration using maximum lean angles
-    float angle_max = MIN(_attitude_control.get_althold_lean_angle_max(), _attitude_control.lean_angle_max());
+    float angle_max = MIN(_attitude_control.get_althold_lean_angle_max(), get_lean_angle_max_cd());
     float accel_max = MIN(GRAVITY_MSS * 100.0f * tanf(ToRad(angle_max * 0.01f)), POSCONTROL_ACCEL_XY_MAX);
     _limit.accel_xy = limit_vector_length(_accel_target.x, _accel_target.y, accel_max);
 
+    // update angle targets that will be passed to stabilize controller
+    accel_to_lean_angles(_accel_target.x, _accel_target.y, _roll_target, _pitch_target);
+}
+
+// get_lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s
+void AC_PosControl::accel_to_lean_angles(float accel_x_cmss, float accel_y_cmss, float& roll_target, float& pitch_target) const
+{
+    float accel_right, accel_forward;
+
     // rotate accelerations into body forward-right frame
-    accel_forward = _accel_target.x*_ahrs.cos_yaw() + _accel_target.y*_ahrs.sin_yaw();
-    accel_right = -_accel_target.x*_ahrs.sin_yaw() + _accel_target.y*_ahrs.cos_yaw();
+    accel_forward = accel_x_cmss*_ahrs.cos_yaw() + accel_y_cmss*_ahrs.sin_yaw();
+    accel_right = -accel_x_cmss*_ahrs.sin_yaw() + accel_y_cmss*_ahrs.cos_yaw();
 
     // update angle targets that will be passed to stabilize controller
-    _pitch_target = atanf(-accel_forward/(GRAVITY_MSS * 100))*(18000/M_PI);
-    float cos_pitch_target = cosf(_pitch_target*M_PI/18000);
-    _roll_target = atanf(accel_right*cos_pitch_target/(GRAVITY_MSS * 100))*(18000/M_PI);
+    pitch_target = atanf(-accel_forward/(GRAVITY_MSS * 100))*(18000/M_PI);
+    float cos_pitch_target = cosf(pitch_target*M_PI/18000);
+    roll_target = atanf(accel_right*cos_pitch_target/(GRAVITY_MSS * 100))*(18000/M_PI);
 }
 
 // get_lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h
index fa64bf2b2f..d7439f2ac6 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@@ -160,6 +160,9 @@ public:
     /// xy position controller
     ///
 
+    /// get_lean_angle_max_cd - returns the maximum lean angle the autopilot may request
+    float get_lean_angle_max_cd() const;
+
     /// init_xy_controller - initialise the xy controller
     ///     sets target roll angle, pitch angle and I terms based on vehicle current lean angles
     ///     should be called once whenever significant changes to the position target are made
@@ -281,6 +284,9 @@ public:
     const Vector3f& get_vel_target() const { return _vel_target; }
     const Vector3f& get_accel_target() const { return _accel_target; }
 
+    // lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s
+    void accel_to_lean_angles(float accel_x_cmss, float accel_y_cmss, float& roll_target, float& pitch_target) const;
+
     // lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s
     void lean_angles_to_accel(float& accel_x_cmss, float& accel_y_cmss) const;
 
@@ -364,6 +370,7 @@ protected:
 
     // parameters
     AP_Float    _accel_xy_filt_hz;      // XY acceleration filter cutoff frequency
+    AP_Float    _lean_angle_max;        // Maximum autopilot commanded angle (in degrees). Set to zero for Angle Max
     AC_P        _p_pos_z;
     AC_P        _p_vel_z;
     AC_PID      _pid_accel_z;