diff --git a/ArduCopter/AP_Arming_Copter.cpp b/ArduCopter/AP_Arming_Copter.cpp
index 390967a20d..7fc6a04dff 100644
--- a/ArduCopter/AP_Arming_Copter.cpp
+++ b/ArduCopter/AP_Arming_Copter.cpp
@@ -218,12 +218,6 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
             check_failed(Check::PARAMETERS, display_failure, "FS_GCS_ENABLE=2 removed, see FS_OPTIONS");
         }
 
-        // lean angle parameter check
-        if (copter.aparm.angle_max < 1000 || copter.aparm.angle_max > 8000) {
-            check_failed(Check::PARAMETERS, display_failure, "Check ANGLE_MAX");
-            return false;
-        }
-
         // acro balance parameter check
 #if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
         if (is_negative(copter.g.acro_balance_roll) || is_negative(copter.g.acro_balance_pitch) ||
@@ -601,7 +595,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
 
     // check lean angle
     if (check_enabled(Check::INS)) {
-        if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > copter.aparm.angle_max) {
+        if (acosf(ahrs.cos_roll()*ahrs.cos_pitch()) > copter.attitude_control->lean_angle_max_rad()) {
             check_failed(Check::INS, true, "Leaning");
             return false;
         }
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index ee32e7549f..9ecf72771f 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -236,9 +236,6 @@ public:
 
 private:
 
-    // key aircraft parameters passed to multiple libraries
-    AP_MultiCopter aparm;
-
     // Global parameters are all contained within the 'g' class.
     Parameters g;
     ParametersG2 g2;
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index f66c76124d..41a40153f9 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -273,15 +273,6 @@ const AP_Param::Info Copter::var_info[] = {
     // @Range: 0 127
     // @User: Advanced
     GSCALAR(disarm_delay, "DISARM_DELAY",           AUTO_DISARMING_DELAY),
-    
-    // @Param: ANGLE_MAX
-    // @DisplayName: Angle Max
-    // @Description: Maximum lean angle in all flight modes
-    // @Units: cdeg
-    // @Increment: 10
-    // @Range: 1000 8000
-    // @User: Advanced
-    ASCALAR(angle_max, "ANGLE_MAX",                 DEFAULT_ANGLE_MAX),
 
 #if MODE_POSHOLD_ENABLED
     // @Param: PHLD_BRAKE_RATE
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 4f52b88e0a..551e686b49 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -110,7 +110,7 @@ public:
         k_param_ch8_option_old,         // deprecated
         k_param_arming_check_old,       // deprecated - remove
         k_param_sprayer,
-        k_param_angle_max,
+        k_param_angle_max,              // remove
         k_param_gps_hdop_good,
         k_param_battery,
         k_param_fs_batt_mah,            // unused - moved to AP_BattMonitor
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index c3aa363a58..c4b3580d17 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -470,8 +470,9 @@
 #ifndef ROLL_PITCH_YAW_INPUT_MAX
  # define ROLL_PITCH_YAW_INPUT_MAX      4500        // roll, pitch and yaw input range
 #endif
-#ifndef DEFAULT_ANGLE_MAX
- # define DEFAULT_ANGLE_MAX         3000            // ANGLE_MAX parameters default value
+
+#ifdef DEFAULT_ANGLE_MAX
+ #error "DEFAULT_ANGLE_MAX definition replaced with AC_ATTITUDE_CONTROL_ANGLE_MAX_DEFAULT (in degrees)"
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
index 2b10634a1c..756d6a826b 100644
--- a/ArduCopter/mode_flowhold.cpp
+++ b/ArduCopter/mode_flowhold.cpp
@@ -118,7 +118,7 @@ bool ModeFlowHold::init(bool ignore_checks)
 void ModeFlowHold::flowhold_flow_to_angle(Vector2f &bf_angles_rad, bool stick_input)
 {
     uint32_t now = AP_HAL::millis();
-    const float angle_max_rad = cd_to_rad(copter.aparm.angle_max);
+    const float angle_max_rad = copter.attitude_control->lean_angle_max_rad();
 
     // get corrected raw flow rate
     Vector2f raw_flow_rads = copter.optflow.flowRate() - copter.optflow.bodyRate();
@@ -319,7 +319,7 @@ void ModeFlowHold::run()
     // calculate alt-hold angles
     int16_t roll_in = copter.channel_roll->get_control_in();
     int16_t pitch_in = copter.channel_pitch->get_control_in();
-    const float angle_max_rad = cd_to_rad(copter.aparm.angle_max);
+    const float angle_max_rad = copter.attitude_control->lean_angle_max_rad();
 
     float target_roll_rad, target_pitch_rad;
     get_pilot_desired_lean_angles_rad(target_roll_rad, target_pitch_rad, attitude_control->lean_angle_max_rad(), attitude_control->get_althold_lean_angle_max_rad());
diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
index 5fdc1bc48a..fe221aa72c 100644
--- a/ArduCopter/mode_poshold.cpp
+++ b/ArduCopter/mode_poshold.cpp
@@ -479,7 +479,7 @@ void ModePosHold::run()
     }
 
     // constrain target pitch/roll angles
-    const float angle_max_rad = cd_to_rad(copter.aparm.angle_max);
+    const float angle_max_rad = copter.attitude_control->lean_angle_max_rad();
     roll_rad  = constrain_float(roll_rad,  -angle_max_rad, angle_max_rad);
     pitch_rad = constrain_float(pitch_rad, -angle_max_rad, angle_max_rad);
 
@@ -582,7 +582,7 @@ void ModePosHold::update_wind_comp_estimate()
     }
 
     // limit acceleration
-    const float accel_lim_mss = tanf(cd_to_rad(POSHOLD_WIND_COMP_LEAN_PCT_MAX * copter.aparm.angle_max)) * GRAVITY_MSS;
+    const float accel_lim_mss = tanf(POSHOLD_WIND_COMP_LEAN_PCT_MAX * copter.attitude_control->lean_angle_max_rad()) * GRAVITY_MSS;
     const float wind_comp_ef_len = wind_comp_ne_mss.length();
     if (!is_zero(accel_lim_mss) && (wind_comp_ef_len > accel_lim_mss)) {
         wind_comp_ne_mss *= accel_lim_mss / wind_comp_ef_len;
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index e60fe91062..68bf14bdea 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -441,15 +441,15 @@ void Copter::allocate_motors(void)
 #if FRAME_CONFIG != HELI_FRAME
     if ((AP_Motors::motor_frame_class)g2.frame_class.get() == AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING) {
 #if AP_SCRIPTING_ENABLED
-        attitude_control = NEW_NOTHROW AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors);
+        attitude_control = NEW_NOTHROW AC_AttitudeControl_Multi_6DoF(*ahrs_view, *motors);
         attitude_control_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
 #endif // AP_SCRIPTING_ENABLED
     } else {
-        attitude_control = NEW_NOTHROW AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors);
+        attitude_control = NEW_NOTHROW AC_AttitudeControl_Multi(*ahrs_view, *motors);
         attitude_control_var_info = AC_AttitudeControl_Multi::var_info;
     }
 #else
-    attitude_control = NEW_NOTHROW AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors);
+    attitude_control = NEW_NOTHROW AC_AttitudeControl_Heli(*ahrs_view, *motors);
     attitude_control_var_info = AC_AttitudeControl_Heli::var_info;
 #endif
     if (attitude_control == nullptr) {
@@ -523,6 +523,9 @@ void Copter::allocate_motors(void)
     convert_prx_parameters();
 #endif
 
+    // upgrade attitude controller parameters
+    copter.attitude_control->convert_parameters();
+
     // upgrade position controller parameters
     copter.pos_control->convert_parameters();