diff --git a/ArduCopter/heli_control_acro.pde b/ArduCopter/heli_control_acro.pde
index e71746323f..9aae2fd1a4 100644
--- a/ArduCopter/heli_control_acro.pde
+++ b/ArduCopter/heli_control_acro.pde
@@ -7,6 +7,8 @@
 // heli_acro_init - initialise acro controller
 static bool heli_acro_init(bool ignore_checks)
 {
+    // clear stabilized rate errors
+    attitude_control.init_targets();
     return true;
 }
 
@@ -16,6 +18,12 @@ static void heli_acro_run()
 {
     int16_t target_roll, target_pitch, target_yaw;
 
+    // if not armed or main rotor not up to full speed clear stabilized rate errors
+    // unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
+    if(!motors.armed() || !motors.motor_runup_complete()) {
+        attitude_control.init_targets();
+    }
+
     // To-Do: add support for flybarred helis
 
     // convert the input to the desired body frame rate