diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp
index 7eee533cdf..f807cdd31f 100644
--- a/ArduCopter/land_detector.cpp
+++ b/ArduCopter/land_detector.cpp
@@ -60,8 +60,8 @@ void Copter::update_land_detector()
     } else {
 
 #if FRAME_CONFIG == HELI_FRAME
-        // check that collective pitch is on lower limit (should be constrained by LAND_COL_MIN)
-        bool motor_at_lower_limit = motors->limit.throttle_lower;
+        // check that collective pitch is below mid collective (zero thrust) position
+        bool motor_at_lower_limit = (motors->get_below_mid_collective() && fabsf(ahrs.get_roll()) < M_PI/2.0f);
 #else
         // check that the average throttle output is near minimum (less than 12.5% hover throttle)
         bool motor_at_lower_limit = motors->limit.throttle_lower && attitude_control->is_throttle_mix_min();
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 6ee32eb323..52b835cd09 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -502,7 +502,7 @@ void Mode::make_safe_spool_down()
     case AP_Motors::SpoolState::SHUT_DOWN:
     case AP_Motors::SpoolState::GROUND_IDLE:
         // relax controllers during idle states
-        attitude_control->reset_rate_controller_I_terms();
+        attitude_control->reset_rate_controller_I_terms_smoothly();
         attitude_control->set_yaw_target_to_current_heading();
         break;
 
diff --git a/ArduCopter/mode_acro.cpp b/ArduCopter/mode_acro.cpp
index 54795a1f93..a73e67f0da 100644
--- a/ArduCopter/mode_acro.cpp
+++ b/ArduCopter/mode_acro.cpp
@@ -34,7 +34,7 @@ void ModeAcro::run()
     case AP_Motors::SpoolState::GROUND_IDLE:
         // Landed
         attitude_control->set_attitude_target_to_current_attitude();
-        attitude_control->reset_rate_controller_I_terms();
+        attitude_control->reset_rate_controller_I_terms_smoothly();
         break;
 
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
diff --git a/ArduCopter/mode_acro_heli.cpp b/ArduCopter/mode_acro_heli.cpp
index 29a0568d24..04af9cf66d 100644
--- a/ArduCopter/mode_acro_heli.cpp
+++ b/ArduCopter/mode_acro_heli.cpp
@@ -53,12 +53,12 @@ void ModeAcro_Heli::run()
         // Otherwise motors could be at ground idle for practice autorotation
         if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
             attitude_control->set_attitude_target_to_current_attitude();
-            attitude_control->reset_rate_controller_I_terms();
+            attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
         if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
-            attitude_control->reset_rate_controller_I_terms();
+            attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;
     case AP_Motors::SpoolState::SPOOLING_UP:
diff --git a/ArduCopter/mode_althold.cpp b/ArduCopter/mode_althold.cpp
index ecd0b5d1b9..b4f2f7dbc5 100644
--- a/ArduCopter/mode_althold.cpp
+++ b/ArduCopter/mode_althold.cpp
@@ -58,7 +58,7 @@ void ModeAltHold::run()
         FALLTHROUGH;
 
     case AltHold_Landed_Pre_Takeoff:
-        attitude_control->reset_rate_controller_I_terms();
+        attitude_control->reset_rate_controller_I_terms_smoothly();
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
         break;
 
diff --git a/ArduCopter/mode_autotune.cpp b/ArduCopter/mode_autotune.cpp
index 063e3e8a63..821269ca78 100644
--- a/ArduCopter/mode_autotune.cpp
+++ b/ArduCopter/mode_autotune.cpp
@@ -60,7 +60,7 @@ void AutoTune::run()
         } else {
             copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
         }
-        copter.attitude_control->reset_rate_controller_I_terms();
+        copter.attitude_control->reset_rate_controller_I_terms_smoothly();
         copter.attitude_control->set_yaw_target_to_current_heading();
 
         float target_roll, target_pitch, target_yaw_rate;
diff --git a/ArduCopter/mode_drift.cpp b/ArduCopter/mode_drift.cpp
index d7f542b889..ee9aed334f 100644
--- a/ArduCopter/mode_drift.cpp
+++ b/ArduCopter/mode_drift.cpp
@@ -98,7 +98,7 @@ void ModeDrift::run()
     case AP_Motors::SpoolState::GROUND_IDLE:
         // Landed
         attitude_control->set_yaw_target_to_current_heading();
-        attitude_control->reset_rate_controller_I_terms();
+        attitude_control->reset_rate_controller_I_terms_smoothly();
         break;
 
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
index 946f3cd704..8bfe844c50 100644
--- a/ArduCopter/mode_flowhold.cpp
+++ b/ArduCopter/mode_flowhold.cpp
@@ -298,7 +298,7 @@ void ModeFlowHold::run()
         FALLTHROUGH;
 
     case AltHold_Landed_Pre_Takeoff:
-        attitude_control->reset_rate_controller_I_terms();
+        attitude_control->reset_rate_controller_I_terms_smoothly();
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
         break;
 
diff --git a/ArduCopter/mode_loiter.cpp b/ArduCopter/mode_loiter.cpp
index b62233513e..dfc0556562 100644
--- a/ArduCopter/mode_loiter.cpp
+++ b/ArduCopter/mode_loiter.cpp
@@ -154,7 +154,7 @@ void ModeLoiter::run()
         FALLTHROUGH;
 
     case AltHold_Landed_Pre_Takeoff:
-        attitude_control->reset_rate_controller_I_terms();
+        attitude_control->reset_rate_controller_I_terms_smoothly();
         loiter_nav->init_target();
         attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
index a3424fd783..57633b8520 100644
--- a/ArduCopter/mode_poshold.cpp
+++ b/ArduCopter/mode_poshold.cpp
@@ -155,7 +155,7 @@ void ModePosHold::run()
         FALLTHROUGH;
 
     case AltHold_Landed_Pre_Takeoff:
-        attitude_control->reset_rate_controller_I_terms();
+        attitude_control->reset_rate_controller_I_terms_smoothly();
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
 
         // set poshold state to pilot override
diff --git a/ArduCopter/mode_sport.cpp b/ArduCopter/mode_sport.cpp
index f411424b67..75de568ea1 100644
--- a/ArduCopter/mode_sport.cpp
+++ b/ArduCopter/mode_sport.cpp
@@ -106,7 +106,7 @@ void ModeSport::run()
         FALLTHROUGH;
 
     case AltHold_Landed_Pre_Takeoff:
-        attitude_control->reset_rate_controller_I_terms();
+        attitude_control->reset_rate_controller_I_terms_smoothly();
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
         break;
 
diff --git a/ArduCopter/mode_stabilize.cpp b/ArduCopter/mode_stabilize.cpp
index 93edffc2c3..85d522ed5f 100644
--- a/ArduCopter/mode_stabilize.cpp
+++ b/ArduCopter/mode_stabilize.cpp
@@ -38,7 +38,7 @@ void ModeStabilize::run()
     case AP_Motors::SpoolState::GROUND_IDLE:
         // Landed
         attitude_control->set_yaw_target_to_current_heading();
-        attitude_control->reset_rate_controller_I_terms();
+        attitude_control->reset_rate_controller_I_terms_smoothly();
         break;
 
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
diff --git a/ArduCopter/mode_stabilize_heli.cpp b/ArduCopter/mode_stabilize_heli.cpp
index d01005538e..7d704fa69a 100644
--- a/ArduCopter/mode_stabilize_heli.cpp
+++ b/ArduCopter/mode_stabilize_heli.cpp
@@ -58,12 +58,12 @@ void ModeStabilize_Heli::run()
         // Otherwise motors could be at ground idle for practice autorotation
         if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
             attitude_control->set_yaw_target_to_current_heading();
-            attitude_control->reset_rate_controller_I_terms();
+            attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
         if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
-            attitude_control->reset_rate_controller_I_terms();
+            attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;
     case AP_Motors::SpoolState::SPOOLING_UP:
diff --git a/ArduCopter/mode_systemid.cpp b/ArduCopter/mode_systemid.cpp
index 5b9734c04a..e3ea17f024 100644
--- a/ArduCopter/mode_systemid.cpp
+++ b/ArduCopter/mode_systemid.cpp
@@ -141,7 +141,7 @@ void ModeSystemId::run()
         // init_targets_on_arming is always set true for multicopter.
         if (motors->init_targets_on_arming()) {
             attitude_control->set_yaw_target_to_current_heading();
-            attitude_control->reset_rate_controller_I_terms();
+            attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;
 
diff --git a/ArduCopter/mode_zigzag.cpp b/ArduCopter/mode_zigzag.cpp
index 2db1fcb63c..52ae72a06b 100644
--- a/ArduCopter/mode_zigzag.cpp
+++ b/ArduCopter/mode_zigzag.cpp
@@ -364,7 +364,7 @@ void ModeZigZag::manual_control()
         FALLTHROUGH;
 
     case AltHold_Landed_Pre_Takeoff:
-        attitude_control->reset_rate_controller_I_terms();
+        attitude_control->reset_rate_controller_I_terms_smoothly();
         loiter_nav->init_target();
         attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero