diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index d8dd47c116..887f7e2b0c 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1798,8 +1798,9 @@ bool set_throttle_mode( uint8_t new_throttle_mode )
         case THROTTLE_AUTO:
             controller_desired_alt = current_loc.alt;   // reset controller desired altitude to current altitude
             set_new_altitude(current_loc.alt);          // by default hold the current altitude
-            if ( throttle_mode < THROTTLE_HOLD ) {      // reset the alt hold I terms if previous throttle mode was manual
+            if ( throttle_mode <= THROTTLE_MANUAL_TILT_COMPENSATED ) {      // reset the alt hold I terms if previous throttle mode was manual
                 reset_throttle_I();
+                set_accel_throttle_I_from_pilot_throttle();
             }
             throttle_initialised = true;
             break;
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 51508426a1..755f11dc88 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -1069,7 +1069,6 @@ get_throttle_land()
                 set_land_complete(true);
                 if( g.rc_3.control_in == 0 || ap.failsafe ) {
                     init_disarm_motors();
-                    reset_throttle_I();
                 }
             }
         }else{
@@ -1166,6 +1165,12 @@ static void reset_throttle_I(void)
     g.pid_throttle_accel.reset_I();
 }
 
+static void set_accel_throttle_I_from_pilot_throttle(void)
+{
+    // shift difference between pilot's throttle and hover throttle into accelerometer I
+    g.pid_throttle_accel.set_integrator(g.rc_3.control_in-g.throttle_cruise);
+}
+
 static void reset_stability_I(void)
 {
     // Used to balance a quad