diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 2b5e05a3c6..1bd2627b5e 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -76,8 +76,8 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
         ret = false;
     }
 
-    if (plane.aparm.roll_limit_cd < 300) {
-        check_failed(display_failure, "LIM_ROLL_CD too small (%u)", (unsigned)plane.aparm.roll_limit_cd);
+    if (plane.aparm.roll_limit < 3) {
+        check_failed(display_failure, "LIM_ROLL_DEG too small (%.1f)", plane.aparm.roll_limit.get());
         ret = false;
     }
 
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 8f2cd5a9a7..474299eb7b 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -172,7 +172,7 @@ void Plane::ahrs_update()
 #endif
 
     // calculate a scaled roll limit based on current pitch
-    roll_limit_cd = aparm.roll_limit_cd;
+    roll_limit_cd = aparm.roll_limit*100;
     pitch_limit_min = aparm.pitch_limit_min;
 
     bool rotate_limits = true;
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 2c8de5c9a4..8a629fbed1 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -512,14 +512,14 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     GSCALAR(initial_mode,        "INITIAL_MODE",     Mode::Number::MANUAL),
 
-    // @Param: LIM_ROLL_CD
+    // @Param: ROLL_LIMIT_DEG
     // @DisplayName: Maximum Bank Angle
     // @Description: Maximum bank angle commanded in modes with stabilized limits. Increase this value for sharper turns, but decrease to prevent accelerated stalls.
-    // @Units: cdeg
-    // @Range: 0 9000
-    // @Increment: 10
+    // @Units: deg
+    // @Range: 0 90
+    // @Increment: 0.1
     // @User: Standard
-    ASCALAR(roll_limit_cd,          "LIM_ROLL_CD",    HEAD_MAX_CENTIDEGREE),
+    ASCALAR(roll_limit,          "ROLL_LIMIT_DEG",    ROLL_LIMIT_DEG),
 
     // @Param: PTCH_LIM_MAX_DEG
     // @DisplayName: Maximum Pitch Angle
@@ -1554,6 +1554,7 @@ void Plane::load_parameters(void)
     g.cruise_alt_floor.convert_centi_parameter(AP_PARAM_INT16);
     aparm.pitch_limit_max.convert_centi_parameter(AP_PARAM_INT16);
     aparm.pitch_limit_min.convert_centi_parameter(AP_PARAM_INT16);
+    aparm.roll_limit.convert_centi_parameter(AP_PARAM_INT16);
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 85b4ffe5aa..070d885d37 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -213,7 +213,7 @@ public:
         //
         k_param_crosstrack_gain = 150, // unused
         k_param_crosstrack_entry_angle, // unused
-        k_param_roll_limit_cd,
+        k_param_roll_limit,
         k_param_pitch_limit_max,
         k_param_pitch_limit_min,
         k_param_airspeed_cruise,
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index ef39b0ae70..b89be6703f 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -156,8 +156,8 @@
 //////////////////////////////////////////////////////////////////////////////
 // Autopilot control limits
 //
-#ifndef HEAD_MAX
- # define HEAD_MAX                               45
+#ifndef ROLL_LIMIT_DEG
+ # define ROLL_LIMIT_DEG                         45
 #endif
 #ifndef PITCH_MAX
  # define PITCH_MAX                              20
@@ -165,7 +165,6 @@
 #ifndef PITCH_MIN
  # define PITCH_MIN                              -25
 #endif
-#define HEAD_MAX_CENTIDEGREE HEAD_MAX * 100
 
 #ifndef RUDDER_MIX
  # define RUDDER_MIX           0.5f
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 732e59b244..5e4bf8cbae 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1517,7 +1517,7 @@ bool QuadPlane::should_assist(float aspeed, bool have_airspeed)
      */
 
     const uint16_t allowed_envelope_error_cd = 500U;
-    if (labs(ahrs.roll_sensor) <= plane.aparm.roll_limit_cd+allowed_envelope_error_cd &&
+    if (labs(ahrs.roll_sensor) <= plane.aparm.roll_limit*100 + allowed_envelope_error_cd &&
         ahrs.pitch_sensor < plane.aparm.pitch_limit_max*100+allowed_envelope_error_cd &&
         ahrs.pitch_sensor > -(allowed_envelope_error_cd-plane.aparm.pitch_limit_min*100)) {
         // we are inside allowed attitude envelope