diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index 6864072a30..166be7b7b3 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -198,6 +198,7 @@ float AC_PID::update_all(float target, float measurement, float dt, bool limit,
     }
 
     // reset input filter to value received
+    _pid_info.reset = _flags._reset_filter;
     if (_flags._reset_filter) {
         _flags._reset_filter = false;
         _target = target;
@@ -319,6 +320,10 @@ void AC_PID::update_i(float dt, bool limit)
     }
     _pid_info.I = _integrator;
     _pid_info.limit = limit;
+
+    // Set I set flag for logging and clear
+    _pid_info.I_term_set = _flags._I_set;
+    _flags._I_set = false;
 }
 
 float AC_PID::get_p() const
@@ -343,6 +348,7 @@ float AC_PID::get_ff() const
 
 void AC_PID::reset_I()
 {
+    _flags._I_set = true;
     _integrator = 0.0;
 }
 
@@ -404,6 +410,7 @@ float AC_PID::get_filt_D_alpha(float dt) const
 
 void AC_PID::set_integrator(float integrator)
 {
+    _flags._I_set = true;
     _integrator = constrain_float(integrator, -_kimax, _kimax);
 }
 
@@ -411,6 +418,7 @@ void AC_PID::relax_integrator(float integrator, float dt, float time_constant)
 {
     integrator = constrain_float(integrator, -_kimax, _kimax);
     if (is_positive(dt)) {
+        _flags._I_set = true;
         _integrator = _integrator + (integrator - _integrator) * (dt / (dt + time_constant));
     }
 }
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index dce0082143..fbbebcac7d 100644
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -184,6 +184,7 @@ protected:
     // flags
     struct ac_pid_flags {
         bool _reset_filter :1; // true when input filter should be reset during next call to set_input
+        bool _I_set :1; // true if if the I terms has been set externally including zeroing
     } _flags;
 
     // internal variables
diff --git a/libraries/AC_PID/AP_PIDInfo.h b/libraries/AC_PID/AP_PIDInfo.h
index 70afb0974e..992a287ec8 100644
--- a/libraries/AC_PID/AP_PIDInfo.h
+++ b/libraries/AC_PID/AP_PIDInfo.h
@@ -19,4 +19,6 @@ struct AP_PIDInfo {
     float slew_rate;
     bool limit;
     bool PD_limit;
+    bool reset;
+    bool I_term_set;
 };