diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index c6dbd356b5..e5653cecfa 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -320,9 +320,6 @@ void AC_PosControl::rate_to_accel_z(float vel_target_z)
     desired_accel += p;
     desired_accel = constrain_int32(desired_accel, -32000, 32000);
 
-    // To-Do: re-enable PID logging?
-    // TO-DO: ensure throttle cruise is updated some other way in the main code or attitude control
-
     // set target for accel based throttle controller
     accel_to_throttle(desired_accel);
 }
@@ -483,6 +480,9 @@ bool AC_PosControl::is_active_xy() const
 }
 
 /// init_xy_controller - initialise the xy controller
+///     sets target roll angle, pitch angle and I terms based on vehicle current lean angles
+///     should be called once whenever significant changes to the position target are made
+///     this does not update the xy target
 void AC_PosControl::init_xy_controller()
 {
     // reset xy controller to first step
@@ -492,19 +492,17 @@ void AC_PosControl::init_xy_controller()
     _roll_target = _ahrs.roll_sensor;
     _pitch_target = _ahrs.pitch_sensor;
 
-    // initialise I terms
+    // initialise I terms from lean angles
     if (!_flags.keep_xy_I_terms) {
-        reset_I_xy();
+        // reset last velocity if this controller has just been engaged or dt is zero
+        lean_angles_to_accel(_accel_target.x, _accel_target.y);
+        _pid_rate_lat.set_integrator(_accel_target.x);
+        _pid_rate_lon.set_integrator(_accel_target.y);
     } else {
         // reset keep_xy_I_term flag in case it has been set
         _flags.keep_xy_I_terms = false;
     }
 
-    // reset last velocity if this controller has just been engaged or dt is zero
-    lean_angles_to_accel(_accel_target.x, _accel_target.y);
-    _pid_rate_lat.set_integrator(_accel_target.x);
-    _pid_rate_lon.set_integrator(_accel_target.y);
-
     // flag reset required in rate to accel step
     _flags.reset_desired_vel_to_pos = true;
     _flags.reset_rate_to_accel_xy = true;
@@ -748,13 +746,6 @@ void AC_PosControl::lean_angles_to_accel(float& accel_x_cmss, float& accel_y_cms
     accel_y_cmss = (GRAVITY_MSS * 100) * (-(_ahrs.sin_yaw() * _ahrs.sin_pitch() / max(_ahrs.cos_pitch(),0.5)) + _ahrs.cos_yaw() * _ahrs.sin_roll() / max(_ahrs.cos_roll(),0.5));
 }
 
-/// reset_I_xy - clears I terms from loiter PID controller
-void AC_PosControl::reset_I_xy()
-{
-    _pid_rate_lon.reset_I();
-    _pid_rate_lat.reset_I();
-}
-
 /// calc_leash_length - calculates the horizontal leash length given a maximum speed, acceleration and position kP gain
 float AC_PosControl::calc_leash_length(float speed_cms, float accel_cms, float kP) const
 {
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h
index 351c9b3702..fbdd35cc2c 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@@ -137,6 +137,9 @@ public:
     ///
 
     /// init_xy_controller - initialise the xy controller
+    ///     sets target roll angle, pitch angle and I terms based on vehicle current lean angles
+    ///     should be called once whenever significant changes to the position target are made
+    ///     this does not update the xy target
     void init_xy_controller();
 
     /// set_accel_xy - set horizontal acceleration in cm/s/s
@@ -278,9 +281,6 @@ private:
     ///    converts desired accelerations provided in lat/lon frame to roll/pitch angles
     void accel_to_lean_angles();
 
-    /// reset_I_xy - clears I terms from horizontal position PID controller
-    void reset_I_xy();
-
     /// calc_leash_length - calculates the horizontal leash length given a maximum speed, acceleration and position kP gain
     float calc_leash_length(float speed_cms, float accel_cms, float kP) const;