diff --git a/ArduCopter/mode_acro.cpp b/ArduCopter/mode_acro.cpp
index 1619282988..b4aacbdc97 100644
--- a/ArduCopter/mode_acro.cpp
+++ b/ArduCopter/mode_acro.cpp
@@ -30,17 +30,20 @@ void ModeAcro::run()
         attitude_control->set_attitude_target_to_current_attitude();
         attitude_control->reset_rate_controller_I_terms();
         break;
+
     case AP_Motors::SpoolState::GROUND_IDLE:
         // Landed
         attitude_control->set_attitude_target_to_current_attitude();
         attitude_control->reset_rate_controller_I_terms();
         break;
+
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
         // clear landing flag above zero throttle
         if (!motors->limit.throttle_lower) {
             set_land_complete(false);
         }
         break;
+
     case AP_Motors::SpoolState::SPOOLING_UP:
     case AP_Motors::SpoolState::SPOOLING_DOWN:
         // do nothing
diff --git a/ArduCopter/mode_althold.cpp b/ArduCopter/mode_althold.cpp
index b8e4d875a3..548a918c41 100644
--- a/ArduCopter/mode_althold.cpp
+++ b/ArduCopter/mode_althold.cpp
@@ -48,25 +48,21 @@ void ModeAltHold::run()
     switch (althold_state) {
 
     case AltHold_MotorStopped:
-
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
         break;
 
     case AltHold_Landed_Ground_Idle:
-
-        attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
         // FALLTHROUGH
 
     case AltHold_Landed_Pre_Takeoff:
-
+        attitude_control->reset_rate_controller_I_terms();
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
         break;
 
     case AltHold_Takeoff:
-
         // initiate take-off
         if (!takeoff.running()) {
             takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
diff --git a/ArduCopter/mode_drift.cpp b/ArduCopter/mode_drift.cpp
index 56d7ea2545..d7f542b889 100644
--- a/ArduCopter/mode_drift.cpp
+++ b/ArduCopter/mode_drift.cpp
@@ -94,17 +94,20 @@ void ModeDrift::run()
         attitude_control->set_yaw_target_to_current_heading();
         attitude_control->reset_rate_controller_I_terms();
         break;
+
     case AP_Motors::SpoolState::GROUND_IDLE:
         // Landed
         attitude_control->set_yaw_target_to_current_heading();
         attitude_control->reset_rate_controller_I_terms();
         break;
+
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
         // clear landing flag above zero throttle
         if (!motors->limit.throttle_lower) {
             set_land_complete(false);
         }
         break;
+
     case AP_Motors::SpoolState::SPOOLING_UP:
     case AP_Motors::SpoolState::SPOOLING_DOWN:
         // do nothing
diff --git a/ArduCopter/mode_flip.cpp b/ArduCopter/mode_flip.cpp
index 445c027a71..af57529384 100644
--- a/ArduCopter/mode_flip.cpp
+++ b/ArduCopter/mode_flip.cpp
@@ -200,6 +200,7 @@ void ModeFlip::run()
             Log_Write_Event(DATA_FLIP_END);
         }
         break;
+
     }
     case FlipState::Abandon:
         // restore original flight mode
diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
index 11ffa56cdb..ab92a8242b 100644
--- a/ArduCopter/mode_flowhold.cpp
+++ b/ArduCopter/mode_flowhold.cpp
@@ -254,7 +254,6 @@ void ModeFlowHold::run()
     switch (flowhold_state) {
 
     case AltHold_MotorStopped:
-
         copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
         copter.attitude_control->reset_rate_controller_I_terms();
         copter.attitude_control->set_yaw_target_to_current_heading();
@@ -283,12 +282,11 @@ void ModeFlowHold::run()
         break;
 
     case AltHold_Landed_Ground_Idle:
-        attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
         // FALLTHROUGH
 
     case AltHold_Landed_Pre_Takeoff:
-
+        attitude_control->reset_rate_controller_I_terms();
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
         break;
 
diff --git a/ArduCopter/mode_loiter.cpp b/ArduCopter/mode_loiter.cpp
index 30a6e2acb9..8597624c14 100644
--- a/ArduCopter/mode_loiter.cpp
+++ b/ArduCopter/mode_loiter.cpp
@@ -117,7 +117,6 @@ void ModeLoiter::run()
     switch (loiter_state) {
 
     case AltHold_MotorStopped:
-
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
@@ -127,7 +126,6 @@ void ModeLoiter::run()
         break;
 
     case AltHold_Takeoff:
-
         // initiate take-off
         if (!takeoff.running()) {
             takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
@@ -152,13 +150,11 @@ void ModeLoiter::run()
         break;
 
     case AltHold_Landed_Ground_Idle:
-
-        attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
         // FALLTHROUGH
 
     case AltHold_Landed_Pre_Takeoff:
-
+        attitude_control->reset_rate_controller_I_terms();
         loiter_nav->init_target();
         attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
@@ -166,7 +162,6 @@ void ModeLoiter::run()
         break;
 
     case AltHold_Flying:
-
         // set motors to full range
         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
index e7a5b0f480..cc4e435e91 100644
--- a/ArduCopter/mode_poshold.cpp
+++ b/ArduCopter/mode_poshold.cpp
@@ -107,7 +107,6 @@ void ModePosHold::run()
     switch (poshold_state) {
 
     case AltHold_MotorStopped:
-
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
@@ -121,7 +120,6 @@ void ModePosHold::run()
         break;
 
     case AltHold_Takeoff:
-
         // initiate take-off
         if (!takeoff.running()) {
             takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
@@ -148,16 +146,14 @@ void ModePosHold::run()
         break;
 
     case AltHold_Landed_Ground_Idle:
-
         loiter_nav->clear_pilot_desired_acceleration();
         loiter_nav->init_target();
         loiter_nav->update();
-        attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
         // FALLTHROUGH
 
     case AltHold_Landed_Pre_Takeoff:
-
+        attitude_control->reset_rate_controller_I_terms();
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
 
         // set poshold state to pilot override
@@ -166,7 +162,6 @@ void ModePosHold::run()
         break;
 
     case AltHold_Flying:
-
         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
 #if AC_AVOID_ENABLED == ENABLED
diff --git a/ArduCopter/mode_sport.cpp b/ArduCopter/mode_sport.cpp
index 588f8c50ad..0b0fa1f51d 100644
--- a/ArduCopter/mode_sport.cpp
+++ b/ArduCopter/mode_sport.cpp
@@ -79,14 +79,12 @@ void ModeSport::run()
     switch (sport_state) {
 
     case AltHold_MotorStopped:
-
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
         break;
 
     case AltHold_Takeoff:
-
         // initiate take-off
         if (!takeoff.running()) {
             takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
@@ -104,12 +102,11 @@ void ModeSport::run()
         break;
 
     case AltHold_Landed_Ground_Idle:
-        attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
         // FALLTHROUGH
 
     case AltHold_Landed_Pre_Takeoff:
-
+        attitude_control->reset_rate_controller_I_terms();
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
         break;
 
diff --git a/ArduCopter/mode_stabilize.cpp b/ArduCopter/mode_stabilize.cpp
index 49714f3d33..93edffc2c3 100644
--- a/ArduCopter/mode_stabilize.cpp
+++ b/ArduCopter/mode_stabilize.cpp
@@ -34,17 +34,20 @@ void ModeStabilize::run()
         attitude_control->set_yaw_target_to_current_heading();
         attitude_control->reset_rate_controller_I_terms();
         break;
+
     case AP_Motors::SpoolState::GROUND_IDLE:
         // Landed
         attitude_control->set_yaw_target_to_current_heading();
         attitude_control->reset_rate_controller_I_terms();
         break;
+
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
         // clear landing flag above zero throttle
         if (!motors->limit.throttle_lower) {
             set_land_complete(false);
         }
         break;
+
     case AP_Motors::SpoolState::SPOOLING_UP:
     case AP_Motors::SpoolState::SPOOLING_DOWN:
         // do nothing
diff --git a/ArduCopter/mode_systemid.cpp b/ArduCopter/mode_systemid.cpp
index 47daff5136..0242d710da 100644
--- a/ArduCopter/mode_systemid.cpp
+++ b/ArduCopter/mode_systemid.cpp
@@ -128,6 +128,7 @@ void ModeSystemId::run()
         attitude_control->set_yaw_target_to_current_heading();
         attitude_control->reset_rate_controller_I_terms();
         break;
+
     case AP_Motors::SpoolState::GROUND_IDLE:
         // Landed
         // Tradheli initializes targets when going from disarmed to armed state. 
@@ -137,12 +138,14 @@ void ModeSystemId::run()
             attitude_control->reset_rate_controller_I_terms();
         }
         break;
+
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
         // clear landing flag above zero throttle
         if (!motors->limit.throttle_lower) {
             set_land_complete(false);
         }
         break;
+
     case AP_Motors::SpoolState::SPOOLING_UP:
     case AP_Motors::SpoolState::SPOOLING_DOWN:
         // do nothing