diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp
index 312cd95d39..44f0aeb480 100644
--- a/ArduPlane/tailsitter.cpp
+++ b/ArduPlane/tailsitter.cpp
@@ -223,6 +223,8 @@ void Tailsitter::setup()
     _have_elevator = SRV_Channels::function_assigned(SRV_Channel::k_elevator);
     _have_aileron = SRV_Channels::function_assigned(SRV_Channel::k_aileron);
     _have_rudder = SRV_Channels::function_assigned(SRV_Channel::k_rudder);
+    _have_elevon = SRV_Channels::function_assigned(SRV_Channel::k_elevon_left) || SRV_Channels::function_assigned(SRV_Channel::k_elevon_right);
+    _have_v_tail = SRV_Channels::function_assigned(SRV_Channel::k_vtail_left) || SRV_Channels::function_assigned(SRV_Channel::k_vtail_right);
 
     // set defaults for dual/single motor tailsitter
     if (quadplane.frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER) {
@@ -362,9 +364,24 @@ void Tailsitter::output(void)
         quadplane.motors_output(true);
 
         if (quadplane.option_is_set(QuadPlane::OPTION::TAILSIT_Q_ASSIST_MOTORS_ONLY)) {
-            // only use motors for Q assist, control surfaces remain under plane control
-            // zero copter I terms and use plane
-            quadplane.attitude_control->reset_rate_controller_I_terms();
+            // only use motors for Q assist, control surfaces remain under plane control. Zero copter I terms and use plane.
+            // Smoothly relax to zero so there is no step change in output, must also set limit flags so integrator cannot build faster than the relax.
+            // Assume there is always roll and pitch control surfaces, otherwise motors only assist should not be set.
+            const float dt = quadplane.attitude_control->get_dt();
+            quadplane.attitude_control->get_rate_pitch_pid().relax_integrator(0.0, dt, AC_ATTITUDE_RATE_RELAX_TC);
+            motors->limit.pitch = true;
+            quadplane.attitude_control->get_rate_yaw_pid().relax_integrator(0.0, dt, AC_ATTITUDE_RATE_RELAX_TC);
+            motors->limit.yaw = true;
+
+            if (_have_rudder || _have_v_tail) {
+                // there are yaw control  surfaces, zero motor I term
+                quadplane.attitude_control->get_rate_roll_pid().relax_integrator(0.0, dt, AC_ATTITUDE_RATE_RELAX_TC);
+                motors->limit.roll = true;
+            } else {
+                // no yaw control surfaces, zero plane I terms and use motors
+                // We skip the outputing to surfaces for this axis from the copter controller but there are none setup
+                plane.yawController.reset_I();
+            }
 
             // output tilt motors
             tilt_left = 0.0f;
@@ -447,18 +464,18 @@ void Tailsitter::output(void)
     if (is_positive(headroom)) {
         if (fabsf(aileron_mix) > headroom) {
             aileron_mix *= headroom / fabsf(aileron_mix);
-            yaw_lim = true;
+            yaw_lim |= _have_elevon;
         }
         if (fabsf(rudder_mix) > headroom) {
             rudder_mix *= headroom / fabsf(rudder_mix);
-            roll_lim = true;
+            roll_lim |= _have_v_tail;
         }
     } else {
         aileron_mix = 0.0;
         rudder_mix = 0.0;
-        roll_lim = true;
-        pitch_lim = true;
-        yaw_lim = true;
+        yaw_lim |= _have_elevon;
+        pitch_lim |= _have_elevon || _have_v_tail;
+        roll_lim |= _have_v_tail;
     }
     SRV_Channels::set_output_scaled(SRV_Channel::k_elevon_left, elevator_mix - aileron_mix);
     SRV_Channels::set_output_scaled(SRV_Channel::k_elevon_right, elevator_mix + aileron_mix);
diff --git a/ArduPlane/tailsitter.h b/ArduPlane/tailsitter.h
index b8e0a0380c..1d91fa49e5 100644
--- a/ArduPlane/tailsitter.h
+++ b/ArduPlane/tailsitter.h
@@ -121,6 +121,8 @@ private:
     bool _have_elevator;
     bool _have_aileron;
     bool _have_rudder;
+    bool _have_elevon;
+    bool _have_v_tail;
 
     // refences for convenience
     QuadPlane& quadplane;