diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index c82935fb1c..7b26e8d9bf 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1391,8 +1391,6 @@ static void update_navigation()
 				// reset LOITER to current position
 				next_WP 	= current_loc;
 
-				// clear Loiter Iterms
-				//reset_nav();
 			}else{
 				// this is also set by GPS in update_nav
 				wp_control = LOITER_MODE;
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 847e46ae39..2501554847 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -239,12 +239,12 @@ static void reset_nav(void)
 	nav_throttle 			= 0;
 	invalid_throttle 		= true;
 
-	//g.pi_nav_lat.reset_I();
-	//g.pi_nav_lon.reset_I();
+	g.pi_nav_lat.reset_I();
+	g.pi_nav_lon.reset_I();
 
 	// considering not reseting wind control
-	//g.pi_loiter_lat.reset_I();
-	//g.pi_loiter_lon.reset_I();
+	g.pi_loiter_lat.reset_I();
+	g.pi_loiter_lon.reset_I();
 
 	circle_angle			= 0;
 	crosstrack_error 		= 0;