diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 1eb285d43a..00d041b231 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -1048,15 +1048,15 @@ static void update_current_flight_mode(void)
                 nav_pitch_cd = constrain_int32(nav_pitch_cd, 500, takeoff_pitch_cd);
             }
 
-            if (g.att_controller == ATT_CONTROL_PID) {
-                float aspeed;
-                if (ahrs.airspeed_estimate(&aspeed)) {
-                    // don't use a pitch/roll integrators during takeoff if we are
-                    // below minimum speed
-                    if (aspeed < g.flybywire_airspeed_min) {
-                        g.pidServoPitch.reset_I();
-                        g.pidServoRoll.reset_I();
-                    }
+            float aspeed;
+            if (ahrs.airspeed_estimate(&aspeed)) {
+                // don't use a pitch/roll integrators during takeoff if we are
+                // below minimum speed
+                if (aspeed < g.flybywire_airspeed_min) {
+                    g.pidServoPitch.reset_I();
+                    g.pidServoRoll.reset_I();
+                    g.pitchController.reset_I();
+                    g.rollController.reset_I();
                 }
             }