diff --git a/src/main/flight/flight.c b/src/main/flight/flight.c
index 369f268e2b..5344d54198 100644
--- a/src/main/flight/flight.c
+++ b/src/main/flight/flight.c
@@ -101,8 +101,9 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
             // YAW is always gyro-controlled (MAG correction is applied to rcCommand) 100dps to 1100dps max yaw rate
             AngleRate = (float)((controlRateConfig->yawRate + 10) * rcCommand[YAW]) / 50.0f;
          } else {
-            // calculate error and limit the angle to 50 degrees max inclination
-            errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
+            // calculate error and limit the angle to the max inclination
+            errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+                    +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
 
             if (shouldAutotune()) {
                 errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);