diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 2d06bb0378..39a182e980 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -91,9 +91,10 @@ get_stabilize_yaw(long target_angle)
 static int
 get_nav_throttle(long z_error)
 {
+	bool calc_i = abs(z_error) < ALT_ERROR_MAX;
 	// limit error to prevent I term run up
 	z_error 		= constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);
-	int rate_error 	= g.pi_alt_hold.get_pi(z_error, .1); //_p = .85
+	int rate_error 	= g.pi_alt_hold.get_pi(z_error, .1, calc_i); //_p = .85
 	rate_error 		= rate_error - climb_rate;
 
 	// limit the rate
diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 5ff9bcb62a..e1947351fb 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -20,7 +20,7 @@ static void arm_motors()
 	// full right
 	if (g.rc_4.control_in > 4000) {
 		if (arming_counter == LEVEL_DELAY){
-			Serial.printf("\nAL\n");
+			//Serial.printf("\nAL\n");
 			// begin auto leveling
 			auto_level_counter = 200;
 			arming_counter = 0;
@@ -39,7 +39,7 @@ static void arm_motors()
 	// full left
 	}else if (g.rc_4.control_in < -4000) {
 		if (arming_counter == LEVEL_DELAY){
-			Serial.printf("\nLEV\n");
+			//Serial.printf("\nLEV\n");
 
 			// begin manual leveling
 			imu.init_accel(mavlink_delay);
@@ -65,7 +65,7 @@ static void arm_motors()
 
 static void init_arm_motors()
 {
-	Serial.printf("\nARM\n");
+	//Serial.printf("\nARM\n");
 	#if HIL_MODE != HIL_MODE_DISABLED
 	gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
 	#endif
@@ -106,7 +106,7 @@ static void init_arm_motors()
 
 static void init_disarm_motors()
 {
-	Serial.printf("\nDISARM\n");
+	//Serial.printf("\nDISARM\n");
 	#if HIL_MODE != HIL_MODE_DISABLED
 	gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
 	#endif
diff --git a/libraries/APM_PI/APM_PI.cpp b/libraries/APM_PI/APM_PI.cpp
index 5b18fc4ed7..230956c00b 100644
--- a/libraries/APM_PI/APM_PI.cpp
+++ b/libraries/APM_PI/APM_PI.cpp
@@ -8,9 +8,10 @@
 #include "APM_PI.h"
 
 long
-APM_PI::get_pi(int32_t error, float dt)
+APM_PI::get_pi(int32_t error, float dt, bool calc_i)
 {
-	_integrator += ((float)error * _ki) * dt;
+	if(true)
+		_integrator += ((float)error * _ki) * dt;
 
 	if (_integrator < -_imax) {
 		_integrator = -_imax;
diff --git a/libraries/APM_PI/APM_PI.h b/libraries/APM_PI/APM_PI.h
index 3a7b8d0715..c94e1cb951 100644
--- a/libraries/APM_PI/APM_PI.h
+++ b/libraries/APM_PI/APM_PI.h
@@ -77,7 +77,8 @@ public:
 	///
 	/// @returns		The updated control output.
 	///
-	long 	get_pi(int32_t error, float	 dt);
+	//long 	get_pi(int32_t error, float	 dt);
+	long 	get_pi(int32_t error, float dt, bool calc_i=true);
 
 	/// Reset the PI integrator
 	///