diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 8f41a3ff58..a4008e3beb 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -1471,6 +1471,7 @@ public:
 
     bool init(bool ignore_checks) override;
     void run() override;
+    void exit() override;
 
     bool requires_GPS() const override { return false; }
     bool has_manual_throttle() const override { return true; }
diff --git a/ArduCopter/mode_systemid.cpp b/ArduCopter/mode_systemid.cpp
index 0ce41da15a..60cb56718b 100644
--- a/ArduCopter/mode_systemid.cpp
+++ b/ArduCopter/mode_systemid.cpp
@@ -104,6 +104,13 @@ bool ModeSystemId::init(bool ignore_checks)
     return true;
 }
 
+// systemId_exit - clean up systemId controller before exiting
+void ModeSystemId::exit()
+{
+    // reset the feedfoward enabled parameter to the initialized state
+    attitude_control->bf_feedforward(att_bf_feedforward);
+}
+
 // systemId_run - runs the systemId controller
 // should be called at 100hz or more
 void ModeSystemId::run()
@@ -179,9 +186,9 @@ void ModeSystemId::run()
 
     switch (systemid_state) {
         case SystemIDModeState::SYSTEMID_STATE_STOPPED:
+            attitude_control->bf_feedforward(att_bf_feedforward);
             break;
         case SystemIDModeState::SYSTEMID_STATE_TESTING:
-            attitude_control->bf_feedforward(att_bf_feedforward);
 
             if (copter.ap.land_complete) {
                 systemid_state = SystemIDModeState::SYSTEMID_STATE_STOPPED;