diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 9c62a33e0b..618276d24d 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -809,6 +809,7 @@ void Sub::load_parameters(void)
             AP_Arming::ARMING_CHECK_BATTERY |
             AP_Arming::ARMING_CHECK_LOGGING);
     AP_Param::set_default_by_name("CIRCLE_RATE", 2.0f);
+    AP_Param::set_default_by_name("ATC_ACCEL_Y_MAX", 110000.0f);
 }
 
 void Sub::convert_old_parameters(void)
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index deb76b2630..0b81d78f8d 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -150,11 +150,6 @@ void Sub::init_ardupilot()
 
     leak_detector.init();
 
-    // backwards compatibility
-    if (attitude_control.get_accel_yaw_max() < 110000.0f) {
-        attitude_control.save_accel_yaw_max(110000.0f);
-    }
-
     last_pilot_heading = ahrs.yaw_sensor;
 
     // initialise rangefinder