diff --git a/libraries/APM_Control/AP_SteerController.cpp b/libraries/APM_Control/AP_SteerController.cpp
index e595464db3..66db6bbf0e 100644
--- a/libraries/APM_Control/AP_SteerController.cpp
+++ b/libraries/APM_Control/AP_SteerController.cpp
@@ -113,7 +113,7 @@ int32_t AP_SteerController::get_steering_out_rate(float desired_rate)
 	
 	// Multiply roll rate error by _ki_rate and integrate
 	// Don't integrate if in stabilise mode as the integrator will wind up against the pilots inputs
-	if (ki_rate > 0) {
+	if (ki_rate > 0 && speed >= _minspeed) {
 		// only integrate if gain and time step are positive.
 		if (dt > 0) {
 		    float integrator_delta = rate_error * ki_rate * delta_time * scaler;