diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 97c2970dd79..96fa2263bec 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -259,7 +259,7 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw(float euler
 
     if (_rate_bf_ff_enabled) {
         // translate the roll pitch and yaw acceleration limits to the euler axis
-        Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()));
+        const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()));
 
         // When acceleration limiting and feedforward are enabled, the sqrt controller is used to compute an euler
         // angular velocity that will cause the euler angle to smoothly stop at the input angle with limited deceleration
@@ -310,7 +310,7 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(float euler_roll_angle
 
     if (_rate_bf_ff_enabled) {
         // translate the roll pitch and yaw acceleration limits to the euler axis
-        Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()));
+        const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()));
 
         // When acceleration limiting and feedforward are enabled, the sqrt controller is used to compute an euler
         // angular velocity that will cause the euler angle to smoothly stop at the input angle with limited deceleration
@@ -365,7 +365,7 @@ void AC_AttitudeControl::input_euler_rate_roll_pitch_yaw(float euler_roll_rate_c
 
     if (_rate_bf_ff_enabled) {
         // translate the roll pitch and yaw acceleration limits to the euler axis
-        Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()));
+        const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()));
 
         // When acceleration limiting is enabled, the input shaper constrains angular acceleration, slewing
         // the output rate towards the input rate.