diff --git a/system/manager/manager.py b/system/manager/manager.py
index 187e5aab3..fab8a3794 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -134,6 +134,14 @@ def manager_init() -> None:
     with open(nnff_migration_flag_file, "w") as f:
       f.write("migrated")
 
+  # One-time migration for MaxDesiredAcceleration to 4
+  max_desired_acceleration_migration_flag_file = "/data/media/0/frogpilot_max_desired_acceleration_migrated.flag"
+  if not os.path.exists(max_desired_acceleration_migration_flag_file):
+    if params.get_float("MaxDesiredAcceleration") != 4.0:
+      params.put_float("MaxDesiredAcceleration", 4.0)
+    with open(max_desired_acceleration_migration_flag_file, "w") as f:
+      f.write("migrated")
+
   # set dongle id
   reg_res = register(show_spinner=True)
   if reg_res: