diff --git a/CHANGELOG.md b/CHANGELOG.md
index d77a003e..7a4324fc 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,9 @@
 # Unreleased Features
 Please add a note of your changes below this heading if you make a Pull Request.
 
+### Changed
+* Moved `traptraj.A_per_css` to `controller.inertia`
+
 # Releases
 ## [0.4.7] - 2018-11-28
 ### Added
diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp
index 16aef47a..1e2ad7cd 100644
--- a/Firmware/MotorControl/controller.cpp
+++ b/Firmware/MotorControl/controller.cpp
@@ -113,7 +113,7 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
             TrapezoidalTrajectory::Step_t traj_step = axis_->trap_.eval(t);
             pos_setpoint_ = traj_step.Y;
             vel_setpoint_ = traj_step.Yd;
-            current_setpoint_ = traj_step.Ydd * axis_->trap_.config_.A_per_css;
+            current_setpoint_ = traj_step.Ydd * config_.inertia;
         }
         anticogging_pos = pos_setpoint_; // FF the position setpoint instead of the pos_estimate
     }
diff --git a/Firmware/MotorControl/controller.hpp b/Firmware/MotorControl/controller.hpp
index b39c2890..a12172a2 100644
--- a/Firmware/MotorControl/controller.hpp
+++ b/Firmware/MotorControl/controller.hpp
@@ -32,6 +32,7 @@ public:
         float vel_limit_tolerance = 1.2f;  // ratio to vel_lim. 0.0f to disable
         float vel_ramp_rate = 10000.0f;  // [(counts/s) / s]
         bool setpoints_in_cpr = false;
+        float inertia = 0.0f;      // [A/(count/s^2)]
     };
 
     Controller(Config_t& config);
@@ -107,7 +108,8 @@ public:
                 make_protocol_property("vel_limit", &config_.vel_limit),
                 make_protocol_property("vel_limit_tolerance", &config_.vel_limit_tolerance),
                 make_protocol_property("vel_ramp_rate", &config_.vel_ramp_rate),
-                make_protocol_property("setpoints_in_cpr", &config_.setpoints_in_cpr)
+                make_protocol_property("setpoints_in_cpr", &config_.setpoints_in_cpr),
+                make_protocol_property("inertia", &config_.inertia)
             ),
             make_protocol_function("set_pos_setpoint", *this, &Controller::set_pos_setpoint,
                 "pos_setpoint", "vel_feed_forward", "current_feed_forward"),
diff --git a/Firmware/MotorControl/trapTraj.hpp b/Firmware/MotorControl/trapTraj.hpp
index 42dac0ef..dc548d56 100644
--- a/Firmware/MotorControl/trapTraj.hpp
+++ b/Firmware/MotorControl/trapTraj.hpp
@@ -7,7 +7,6 @@ public:
         float vel_limit = 20000.0f;  // [count/s]
         float accel_limit = 5000.0f; // [count/s^2]
         float decel_limit = 5000.0f; // [count/s^2]
-        float A_per_css = 0.0f;      // [A/(count/s^2)]
     };
     struct Step_t {
         float Y;
@@ -25,8 +24,7 @@ public:
             make_protocol_object("config",
                 make_protocol_property("vel_limit", &config_.vel_limit),
                 make_protocol_property("accel_limit", &config_.accel_limit),
-                make_protocol_property("decel_limit", &config_.decel_limit),
-                make_protocol_property("A_per_css", &config_.A_per_css)
+                make_protocol_property("decel_limit", &config_.decel_limit)
             )
         );
     }
diff --git a/docs/getting-started.md b/docs/getting-started.md
index d9cc3dd6..41fcfd7c 100644
--- a/docs/getting-started.md
+++ b/docs/getting-started.md
@@ -265,13 +265,13 @@ In the above image blue is position and orange is velocity.
 <odrv>.<axis>.trap_traj.config.vel_limit = <Float>
 <odrv>.<axis>.trap_traj.config.accel_limit = <Float>
 <odrv>.<axis>.trap_traj.config.decel_limit = <Float>
-<odrv>.<axis>.trap_traj.config.A_per_css = <Float>
+<odrv>.<axis>.controller.config.inertia = <Float>
 ```
 
 `vel_limit` is the maximum planned trajectory speed.  This sets your coasting speed.<br>
 `accel_limit` is the maximum acceleration in counts / sec^2<br>
 `decel_limit` is the maximum deceleration in counts / sec^2<br>
-`A_per_css` is a value which correlates acceleration (in counts / sec^2) and motor current. It is 0 by default. It is optional, but can improve response of your system if correctly tuned. Keep in mind this will need to change with the load / mass of your system.
+`controller.config.inertia` is a value which correlates acceleration (in counts / sec^2) and motor current. It is 0 by default. It is optional, but can improve response of your system if correctly tuned. Keep in mind this will need to change with the load / mass of your system.
 
 All values should be strictly positive (>= 0).