diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 7f5ea4013b..232f8f676f 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -74,8 +74,9 @@ public:
     virtual AC_PID& get_rate_pitch_pid() = 0;
     virtual AC_PID& get_rate_yaw_pid() = 0;
 
-    // Gets the roll acceleration limit in centidegrees/s/s
-    float get_accel_roll_max() { return _accel_roll_max; }
+    // get the roll acceleration limit in centidegrees/s/s or radians/s/s
+    float get_accel_roll_max() const { return _accel_roll_max; }
+    float get_accel_roll_max_radss() const { return radians(_accel_roll_max*0.01f); }
 
     // Sets the roll acceleration limit in centidegrees/s/s
     void set_accel_roll_max(float accel_roll_max) { _accel_roll_max = accel_roll_max; }
@@ -83,8 +84,9 @@ public:
     // Sets and saves the roll acceleration limit in centidegrees/s/s
     void save_accel_roll_max(float accel_roll_max) { _accel_roll_max.set_and_save(accel_roll_max); }
 
-    // Sets the pitch acceleration limit in centidegrees/s/s
-    float get_accel_pitch_max() { return _accel_pitch_max; }
+    // get the pitch acceleration limit in centidegrees/s/s or radians/s/s
+    float get_accel_pitch_max() const { return _accel_pitch_max; }
+    float get_accel_pitch_max_radss() const { return radians(_accel_pitch_max*0.01f); }
 
     // Sets the pitch acceleration limit in centidegrees/s/s
     void set_accel_pitch_max(float accel_pitch_max) { _accel_pitch_max = accel_pitch_max; }
@@ -92,8 +94,9 @@ public:
     // Sets and saves the pitch acceleration limit in centidegrees/s/s
     void save_accel_pitch_max(float accel_pitch_max) { _accel_pitch_max.set_and_save(accel_pitch_max); }
 
-    // Gets the yaw acceleration limit in centidegrees/s/s
-    float get_accel_yaw_max() { return _accel_yaw_max; }
+    // get the yaw acceleration limit in centidegrees/s/s or radians/s/s
+    float get_accel_yaw_max() const { return _accel_yaw_max; }
+    float get_accel_yaw_max_radss() const { return radians(_accel_yaw_max*0.01f); }
 
     // Sets the yaw acceleration limit in centidegrees/s/s
     void set_accel_yaw_max(float accel_yaw_max) { _accel_yaw_max = accel_yaw_max; }
@@ -291,15 +294,6 @@ protected:
     // tail rotor thrust in hover. Overloaded by AC_Attitude_Heli to return angle.
     virtual float get_roll_trim_rad() { return 0;}
 
-    // Return the roll axis acceleration limit in radians/s/s
-    float get_accel_roll_max_radss() { return radians(_accel_roll_max*0.01f); }
-
-    // Return the pitch axis acceleration limit in radians/s/s
-    float get_accel_pitch_max_radss() { return radians(_accel_pitch_max*0.01f); }
-
-    // Return the yaw axis acceleration limit in radians/s/s
-    float get_accel_yaw_max_radss() { return radians(_accel_yaw_max*0.01f); }
-
     // Return the yaw slew rate limit in radians/s
     float get_slew_yaw_rads() { return radians(_slew_yaw*0.01f); }