diff --git a/ArduCopter/heli_control_acro.cpp b/ArduCopter/heli_control_acro.cpp
index 9649d4396f..730d01448e 100644
--- a/ArduCopter/heli_control_acro.cpp
+++ b/ArduCopter/heli_control_acro.cpp
@@ -37,7 +37,6 @@ void Copter::heli_acro_run()
     }
     
     if(motors.armed() && heli_flags.init_targets_on_arming) {
-        attitude_control.relax_bf_rate_controller();
         attitude_control.set_yaw_target_to_current_heading();
         if (motors.rotor_speed_above_critical()) {
             heli_flags.init_targets_on_arming=false;
diff --git a/ArduCopter/heli_control_stabilize.cpp b/ArduCopter/heli_control_stabilize.cpp
index 4c95612712..61ac9a38f8 100644
--- a/ArduCopter/heli_control_stabilize.cpp
+++ b/ArduCopter/heli_control_stabilize.cpp
@@ -36,7 +36,6 @@ void Copter::heli_stabilize_run()
     }
     
     if(motors.armed() && heli_flags.init_targets_on_arming) {
-        attitude_control.relax_bf_rate_controller();
         attitude_control.set_yaw_target_to_current_heading();
         if (motors.rotor_speed_above_critical()) {
             heli_flags.init_targets_on_arming=false;