diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 89abb8ee34..f513fdc9b0 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -243,7 +243,7 @@ void AC_PosControl::relax_alt_hold_controllers(float throttle_setting)
     _accel_last_z_cms = 0.0f;
     _accel_target.z = -(_ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f;
     _flags.reset_accel_to_throttle = true;
-    _pid_accel_z.set_integrator(throttle_setting*1000.0f);
+    _pid_accel_z.set_integrator((throttle_setting-_motors.get_throttle_hover())*1000.0f);
 }
 
 // get_alt_error - returns altitude error in cm