diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 64e972fd78..58b10068b5 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -2244,6 +2244,10 @@ void QuadPlane::run_xy_controller(float accel_limit)
         pos_control->init_xy_controller();
     }
     pos_control->set_lean_angle_max_cd(MIN(4500, MAX(accel_to_angle(accel_limit)*100, aparm.angle_max)));
+    if (q_fwd_throttle > 0.95f) {
+        // prevent wind up of the velocity controller I term due to a saturated forward throttle
+        pos_control->set_externally_limited_xy();
+    }
     pos_control->update_xy_controller();
 }