diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index dc9a4325e1..3a51f2125e 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -193,6 +193,9 @@ static void reset_nav(void)
 	g.pi_nav_lat.reset_I();
 	g.pi_nav_lon.reset_I();
 
+	g.pi_loiter_lat.reset_I();
+	g.pi_loiter_lon.reset_I();
+
 	circle_angle			= 0;
 	crosstrack_error 		= 0;
 	nav_lat 				= 0;