diff --git a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
index 4879ae83654..432f864d450 100644
--- a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
+++ b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
@@ -50,7 +50,7 @@ PTCH_RATE_SMAX   100
 Q_ENABLE         1
 Q_FRAME_CLASS    1
 Q_FRAME_TYPE     1
-Q_ANGLE_MAX      1500
+Q_A_ANGLE_MAX    15
 Q_ASSIST_ANGLE   30
 Q_ASSIST_SPEED   15
 Q_A_ACCEL_P_MAX  30000
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
index 309910a3732..f5bdae250bf 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
@@ -65,7 +65,7 @@ Q_ACRO_RLL_RATE  300
 Q_ACRO_YAW_RATE  15
 
 # small angle max
-Q_ANGLE_MAX      1000
+Q_A_ANGLE_MAX    10
 
 # setup assistance
 Q_ASSIST_ANGLE   35
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
index 0544434afd1..584eb9fca12 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
@@ -52,7 +52,7 @@ PTCH_RATE_SMAX   100
 Q_ENABLE         1
 Q_FRAME_CLASS    1
 Q_FRAME_TYPE     1
-Q_ANGLE_MAX      1500
+Q_A_ANGLE_MAX    15
 Q_ASSIST_ANGLE   30
 Q_ASSIST_SPEED   15
 Q_A_ACCEL_P_MAX  30000
diff --git a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
index 7354dd73aed..2d241b80461 100644
--- a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
+++ b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
@@ -58,7 +58,7 @@ Q_ENABLE         1
 Q_FRAME_CLASS    1
 Q_FRAME_TYPE     1
 
-Q_ANGLE_MAX      2000
+Q_A_ANGLE_MAX    20
 Q_ASSIST_ANGLE   45
 Q_ASSIST_SPEED   14
 
diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
index 5b322c05e2c..9302c1b4cbd 100644
--- a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
+++ b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
@@ -52,7 +52,7 @@ RLL_RATE_SMAX    100
 
 # quadplane parameters
 Q_ENABLE         1
-Q_ANGLE_MAX      2000
+Q_A_ANGLE_MAX    20
 Q_ASSIST_SPEED   13
 Q_A_ACCEL_P_MAX  70000
 Q_A_ACCEL_R_MAX  70000
diff --git a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
index b2ae96f6171..82eccfed209 100644
--- a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
+++ b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
@@ -53,7 +53,7 @@ RLL_RATE_SMAX   150
 
 # quadplane parameters
 Q_ENABLE        1
-Q_ANGLE_MAX     1500
+Q_A_ANGLE_MAX   15
 Q_ASSIST_ANGLE  30
 Q_ASSIST_SPEED  15
 Q_A_ACCEL_P_MAX 30000
diff --git a/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param b/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param
index 62bde3cdf71..d2fadf2812b 100644
--- a/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param
+++ b/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param
@@ -46,7 +46,7 @@ Q_ENABLE         1
 Q_FRAME_CLASS    1
 Q_FRAME_TYPE     1
 
-Q_ANGLE_MAX      1300
+Q_A_ANGLE_MAX    13
 Q_ASSIST_SPEED   17
 Q_A_ACCEL_P_MAX  55000
 Q_A_ACCEL_R_MAX  55000
diff --git a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
index 7ddeb3f424e..d158dc961ef 100644
--- a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
+++ b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
@@ -25,7 +25,7 @@ Q_ENABLE,1
 Q_M_THST_EXPO,0
 Q_M_SPIN_MIN,0.25
 Q_M_THST_HOVER,0.66
-Q_ANGLE_MAX,1500
+Q_A_ANGLE_MAX,15
 Q_TRANSITION_MS,10000
 Q_P_D_POS_P,0.5
 Q_P_D_VEL_P,2.5