diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 7c3a437045..be000d0f2e 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -9,19 +9,11 @@ get_stabilize_roll(int32_t target_angle)
     // limit the error we're feeding to the PID
     target_angle            = constrain_int32(target_angle, -4500, 4500);
 
-        // convert to desired Rate:
-    int32_t target_rate = g.pi_stabilize_roll.get_p(target_angle);
-
-    int16_t i_stab;
-    if(labs(ahrs.roll_sensor) < 500) {
-        target_angle            = constrain_int32(target_angle, -500, 500);
-        i_stab                          = g.pi_stabilize_roll.get_i(target_angle, G_Dt);
-    }else{
-        i_stab                          = g.pi_stabilize_roll.get_integrator();
-    }
+    // convert to desired rate
+    int32_t target_rate = g.pi_stabilize_roll.get_pi(target_angle, G_Dt);
 
     // set targets for rate controller
-    set_roll_rate_target(target_rate+i_stab, EARTH_FRAME);
+    set_roll_rate_target(target_rate, EARTH_FRAME);
 }
 
 static void
@@ -33,19 +25,11 @@ get_stabilize_pitch(int32_t target_angle)
     // limit the error we're feeding to the PID
     target_angle            = constrain_int32(target_angle, -4500, 4500);
 
-    // convert to desired Rate:
-    int32_t target_rate = g.pi_stabilize_pitch.get_p(target_angle);
-
-    int16_t i_stab;
-    if(labs(ahrs.pitch_sensor) < 500) {
-        target_angle            = constrain_int32(target_angle, -500, 500);
-        i_stab                          = g.pi_stabilize_pitch.get_i(target_angle, G_Dt);
-    }else{
-        i_stab                          = g.pi_stabilize_pitch.get_integrator();
-    }
+    // convert to desired rate
+    int32_t target_rate = g.pi_stabilize_pitch.get_pi(target_angle, G_Dt);
 
     // set targets for rate controller
-    set_pitch_rate_target(target_rate + i_stab, EARTH_FRAME);
+    set_pitch_rate_target(target_rate, EARTH_FRAME);
 }
 
 static void