diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp
index 55e113f891..6ad5638285 100644
--- a/ArduPlane/tailsitter.cpp
+++ b/ArduPlane/tailsitter.cpp
@@ -41,6 +41,8 @@ void QuadPlane::tailsitter_output(void)
 {
     if (tailsitter_active()) {
         motors_output();
+        plane.pitchController.reset_I();
+        plane.rollController.reset_I();
     }
 }