diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index f2ad56f397..c3c7225769 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1284,14 +1284,14 @@ adjust_altitude()
 		// we remove 0 to 100 PWM from hover
 		manual_boost = g.rc_3.control_in - 180;
 		manual_boost = max(-120, manual_boost);
-		g.throttle_cruise += g.pi_throttle.get_integrator();
+		g.throttle_cruise += (g.pi_alt_hold.get_integrator() * g.pi_throttle.kP() + g.pi_throttle.get_integrator());
 		g.pi_alt_hold.reset_I();
 		g.pi_throttle.reset_I();
 
 	}else if  (g.rc_3.control_in >= 650){
 		// we add 0 to 100 PWM to hover
 		manual_boost = g.rc_3.control_in - 650;
-		g.throttle_cruise += g.pi_throttle.get_integrator();
+		g.throttle_cruise += (g.pi_alt_hold.get_integrator() * g.pi_throttle.kP() + g.pi_throttle.get_integrator());
 		g.pi_alt_hold.reset_I();
 		g.pi_throttle.reset_I();