diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index b4707f0356..6446e43fa8 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -95,6 +95,10 @@ void AC_AttitudeControl::relax_bf_rate_controller()
     // ensure zero error in body frame rate controllers
     const Vector3f& gyro = _ahrs.get_gyro();
     _rate_bf_target = gyro * AC_ATTITUDE_CONTROL_DEGX100;
+
+    _pid_rate_roll.reset_I();
+    _pid_rate_pitch.reset_I();
+    _pid_rate_yaw.reset_I();
 }
 
 //