diff --git a/ArduCopterMega/commands_process.pde b/ArduCopterMega/commands_process.pde
index 440d5fc09c..ed468c2221 100644
--- a/ArduCopterMega/commands_process.pde
+++ b/ArduCopterMega/commands_process.pde
@@ -119,6 +119,9 @@ void verify_commands(void)
 	if(verify_must()){
 		Serial.printf("verified must cmd %d\n" , command_must_index);
 		command_must_index 	= NO_COMMAND;
+		// reset rate controlled nav
+		g.pid_nav_wp.reset_I();
+
 	}else{
 		Serial.printf("verified must false %d\n" , command_must_index);
 	}