From 9426849b8d1d8602af4a17e66d1f303460300b15 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Mon, 5 Sep 2016 10:45:10 -0400
Subject: [PATCH] Sub: Change default ATC_ACCEL_Y_MAX to 110k cd/ss

---
 ArduSub/system.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 09a0339f41..8246dcb13b 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -250,6 +250,11 @@ void Sub::init_ardupilot()
     //-----------------------------
     init_barometer(true);
 
+	// backwards compatibility
+	if(attitude_control.get_accel_yaw_max() < 110000.0f) {
+		attitude_control.save_accel_yaw_max(110000.0f);
+	}
+
     // initialise rangefinder
 #if RANGEFINDER_ENABLED == ENABLED
     init_rangefinder();