diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 1555a838aa..5ed4ea3948 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -844,6 +844,9 @@ void QuadPlane::init_loiter(void)
     pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
 
     init_throttle_wait();
+
+    // remember initial pitch
+    loiter_initial_pitch_cd = MAX(plane.ahrs.pitch_sensor, 0);
 }
 
 void QuadPlane::init_land(void)
@@ -964,16 +967,29 @@ void QuadPlane::control_loiter()
     // run loiter controller
     wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
 
-    // call attitude controller with conservative smoothing gain of 4.0f
-    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(),
-                                                                  wp_nav->get_pitch(),
-                                                                  get_desired_yaw_rate_cds(),
-                                                                  4.0f);
-
     // nav roll and pitch are controller by loiter controller
     plane.nav_roll_cd = wp_nav->get_roll();
     plane.nav_pitch_cd = wp_nav->get_pitch();
 
+    uint32_t now = AP_HAL::millis();
+    if (now - last_pidz_init_ms < (uint32_t)transition_time_ms && !is_tailsitter()) {
+        // we limit pitch during initial transition
+        float pitch_limit_cd = linear_interpolate(loiter_initial_pitch_cd, aparm.angle_max,
+                                                  now,
+                                                  last_pidz_init_ms, last_pidz_init_ms+transition_time_ms);
+        if (plane.nav_pitch_cd > pitch_limit_cd) {
+            plane.nav_pitch_cd = pitch_limit_cd;
+            pos_control->set_limit_accel_xy();            
+        }
+    }
+    
+    
+    // call attitude controller with conservative smoothing gain of 4.0f
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
+                                                                  plane.nav_pitch_cd,
+                                                                  get_desired_yaw_rate_cds(),
+                                                                  4.0f);
+
     if (plane.control_mode == QLAND) {
         float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
         if (height_above_ground < land_final_alt && poscontrol.state < QPOS_LAND_FINAL) {
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 304da2fef6..363348d79a 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -276,6 +276,9 @@ private:
     // last throttle value when active
     float last_throttle;
 
+    // pitch when we enter loiter mode
+    int32_t loiter_initial_pitch_cd;
+    
     const float smoothing_gain = 6;
 
     // true if we have reached the airspeed threshold for transition