diff --git a/ArduSub/control_acro.cpp b/ArduSub/control_acro.cpp
index 5da2e81d66..4884d5cc81 100644
--- a/ArduSub/control_acro.cpp
+++ b/ArduSub/control_acro.cpp
@@ -27,7 +27,8 @@ void Sub::acro_run()
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         return;
     }
 
diff --git a/ArduSub/control_althold.cpp b/ArduSub/control_althold.cpp
index a8121eeff8..a5e14a477b 100644
--- a/ArduSub/control_althold.cpp
+++ b/ArduSub/control_althold.cpp
@@ -39,7 +39,8 @@ void Sub::althold_run()
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
         last_pilot_heading = ahrs.yaw_sensor;
         return;
diff --git a/ArduSub/control_auto.cpp b/ArduSub/control_auto.cpp
index 81356a6c98..d12b05c657 100644
--- a/ArduSub/control_auto.cpp
+++ b/ArduSub/control_auto.cpp
@@ -118,8 +118,8 @@ void Sub::auto_wp_run()
         // call attitude controller
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
-
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         return;
     }
 
@@ -203,9 +203,9 @@ void Sub::auto_spline_run()
         // To-Do: reset waypoint origin to current location because vehicle is probably on the ground so we don't want it lurching left or right on take-off
         //    (of course it would be better if people just used take-off)
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
-
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         return;
     }
 
@@ -391,7 +391,8 @@ void Sub::auto_loiter_run()
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
 
         return;
     }
@@ -675,7 +676,8 @@ void Sub::auto_terrain_recover_run()
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         return;
     }
 
diff --git a/ArduSub/control_circle.cpp b/ArduSub/control_circle.cpp
index 7650ad0f05..07cf4d7597 100644
--- a/ArduSub/control_circle.cpp
+++ b/ArduSub/control_circle.cpp
@@ -43,8 +43,8 @@ void Sub::circle_run()
         // To-Do: add some initialisation of position controllers
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
-
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         pos_control.set_alt_target_to_current_alt();
         return;
     }
diff --git a/ArduSub/control_guided.cpp b/ArduSub/control_guided.cpp
index 095a1d95b2..17ee7e5876 100644
--- a/ArduSub/control_guided.cpp
+++ b/ArduSub/control_guided.cpp
@@ -293,8 +293,8 @@ void Sub::guided_pos_control_run()
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
-
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         return;
     }
 
@@ -344,8 +344,8 @@ void Sub::guided_vel_control_run()
         pos_control.init_vel_controller_xyz();
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
-
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         return;
     }
 
@@ -399,8 +399,8 @@ void Sub::guided_posvel_control_run()
         pos_control.set_desired_velocity(Vector3f(0,0,0));
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
-
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         return;
     }
 
@@ -469,8 +469,8 @@ void Sub::guided_angle_control_run()
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        attitude_control.set_throttle_out_unstabilized(0.0f,true,g.throttle_filt);
-
+        attitude_control.set_throttle_out(0.0f,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
         return;
     }
diff --git a/ArduSub/control_manual.cpp b/ArduSub/control_manual.cpp
index 4cf757d3e4..baeb646cd8 100644
--- a/ArduSub/control_manual.cpp
+++ b/ArduSub/control_manual.cpp
@@ -20,7 +20,8 @@ void Sub::manual_run()
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         return;
     }
 
diff --git a/ArduSub/control_poshold.cpp b/ArduSub/control_poshold.cpp
index fe82c638b9..45d7dae2f8 100644
--- a/ArduSub/control_poshold.cpp
+++ b/ArduSub/control_poshold.cpp
@@ -43,7 +43,8 @@ void Sub::poshold_run()
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         loiter_nav.clear_pilot_desired_acceleration();
         loiter_nav.init_target();
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
         return;
     }
diff --git a/ArduSub/control_stabilize.cpp b/ArduSub/control_stabilize.cpp
index 7d2ca51fe6..7963cf674b 100644
--- a/ArduSub/control_stabilize.cpp
+++ b/ArduSub/control_stabilize.cpp
@@ -21,7 +21,8 @@ void Sub::stabilize_run()
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         last_pilot_heading = ahrs.yaw_sensor;
         return;
     }
diff --git a/ArduSub/control_surface.cpp b/ArduSub/control_surface.cpp
index d0f9863924..924a0fbf06 100644
--- a/ArduSub/control_surface.cpp
+++ b/ArduSub/control_surface.cpp
@@ -28,7 +28,8 @@ void Sub::surface_run()
     if (!motors.armed()) {
         motors.output_min();
         motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
-        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
+        attitude_control.set_throttle_out(0,true,g.throttle_filt);
+        attitude_control.relax_attitude_controllers();
         return;
     }