diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 15ffff3f04..3b858c51ee 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -80,6 +80,7 @@ void AC_AttitudeControl::relax_bf_rate_controller()
     // ensure zero error in body frame rate controllers
     const Vector3f& gyro = _ahrs.get_gyro();
     _rate_bf_target = gyro * AC_ATTITUDE_CONTROL_DEGX100;
+    frame_conversion_bf_to_ef(_rate_bf_target, _rate_ef_desired);
 
     _pid_rate_roll.reset_I();
     _pid_rate_pitch.reset_I();