diff --git a/libraries/APM_Control/AP_YawController.cpp b/libraries/APM_Control/AP_YawController.cpp
index 913f2c62e4..2625961f44 100644
--- a/libraries/APM_Control/AP_YawController.cpp
+++ b/libraries/APM_Control/AP_YawController.cpp
@@ -343,7 +343,8 @@ float AP_YawController::get_rate_out(float desired_rate, float scaler, bool disa
 
 void AP_YawController::reset_I()
 {
-    _integrator = 0;
+    _integrator = 0.0;
+    _pid_info.I = 0.0;
 }
 
 /*