diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index a7c2ed6555..145e33468a 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1821,7 +1821,6 @@ void update_roll_pitch_mode(void)
 	#if FRAME_CONFIG != HELI_FRAME
     if(g.rc_3.control_in == 0 && control_mode <= ACRO) {
         reset_rate_I();
-        reset_stability_I();
     }
 	#endif //HELI_FRAME
 
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index b2e4ad68f6..185da3299d 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -1379,12 +1379,8 @@ get_throttle_surface_tracking(int16_t target_rate)
 static void reset_I_all(void)
 {
     reset_rate_I();
-    reset_stability_I();
     reset_throttle_I();
     reset_optflow_I();
-
-    // This is the only place we reset Yaw
-    g.pi_stabilize_yaw.reset_I();
 }
 
 static void reset_rate_I()
@@ -1406,7 +1402,6 @@ static void reset_throttle_I(void)
 {
     // For Altitude Hold
     g.pi_alt_hold.reset_I();
-    g.pid_throttle_rate.reset_I();
     g.pid_throttle_accel.reset_I();
 }
 
@@ -1415,11 +1410,3 @@ static void set_accel_throttle_I_from_pilot_throttle(int16_t pilot_throttle)
     // shift difference between pilot's throttle and hover throttle into accelerometer I
     g.pid_throttle_accel.set_integrator(pilot_throttle-g.throttle_cruise);
 }
-
-static void reset_stability_I(void)
-{
-    // Used to balance a quad
-    // This only needs to be reset during Auto-leveling in flight
-    g.pi_stabilize_roll.reset_I();
-    g.pi_stabilize_pitch.reset_I();
-}