diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index 829ff10a38..d1d817cb3d 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -208,7 +208,7 @@ void AP_AutoTune::update(AP_PIDInfo &pinfo, float scaler, float angle_err_deg)
     float att_limit_deg = 0;
     switch (type) {
     case AUTOTUNE_ROLL:
-        att_limit_deg = aparm.roll_limit_cd * 0.01;
+        att_limit_deg = aparm.roll_limit;
         break;
     case AUTOTUNE_PITCH:
         att_limit_deg = MIN(abs(aparm.pitch_limit_max*100),abs(aparm.pitch_limit_min*100))*0.01;
diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
index be39a6cbdd..0dda072cdd 100644
--- a/libraries/APM_Control/AP_PitchController.cpp
+++ b/libraries/APM_Control/AP_PitchController.cpp
@@ -361,7 +361,7 @@ float AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool di
     if (roll_wrapped > 9000) {
         roll_wrapped = 18000 - roll_wrapped;
     }
-    const float roll_limit_margin = MIN(aparm.roll_limit_cd + 500.0, 8500.0);
+    const float roll_limit_margin = MIN(aparm.roll_limit*100 + 500.0, 8500.0);
     if (roll_wrapped > roll_limit_margin && labs(_ahrs.pitch_sensor) < 7000) {
         float roll_prop = (roll_wrapped - roll_limit_margin) / (float)(9000 - roll_limit_margin);
         desired_rate *= (1 - roll_prop);