diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
index e3b6c2ed6f..4f1eb70c81 100644
--- a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
+++ b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
@@ -199,8 +199,8 @@ void FlightTaskAutoLineSmoothVel::_prepareSetpoints()
 void FlightTaskAutoLineSmoothVel::_updateTrajConstraints()
 {
 	// Update the constraints of the trajectories
-	_trajectory[0].setMaxAccel(_param_mpc_acc_hor_max.get()); // TODO : Should be computed using heading
-	_trajectory[1].setMaxAccel(_param_mpc_acc_hor_max.get());
+	_trajectory[0].setMaxAccel(_param_mpc_acc_hor.get()); // TODO : Should be computed using heading
+	_trajectory[1].setMaxAccel(_param_mpc_acc_hor.get());
 	_trajectory[0].setMaxVel(_param_mpc_xy_vel_max.get());
 	_trajectory[1].setMaxVel(_param_mpc_xy_vel_max.get());
 	_trajectory[0].setMaxJerk(_param_mpc_jerk_auto.get()); // TODO : Should be computed using heading
diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
index d9d3eb5f0f..17c4f5ad52 100644
--- a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
+++ b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
@@ -59,7 +59,6 @@ protected:
 					(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
 					(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
 					(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
-					(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
 					(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
 					(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
 					(ParamFloat<px4::params::MPC_Z_TRAJ_P>) _param_mpc_z_traj_p