diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 2f268eb455..06a256ce1f 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -644,8 +644,17 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
 
 			}
 
+			// I term factor: reduce the I gain with increasing rate error.
+			// This counteracts a non-linear effect where the integral builds up quickly upon a large setpoint
+			// change (noticeable in a bounce-back effect after a flip).
+			// The formula leads to a gradual decrease w/o steps, while only affecting the cases where it should:
+			// with the parameter set to 400 degrees, up to 100 deg rate error, i_factor is almost 1 (having no effect),
+			// and up to 200 deg error leads to <25% reduction of I.
+			float i_factor = rates_err(i) / math::radians(400.f);
+			i_factor = math::max(0.0f, 1.f - i_factor * i_factor);
+
 			// Perform the integration using a first order method and do not propagate the result if out of range or invalid
-			float rate_i = _rates_int(i) + rates_i_scaled(i) * rates_err(i) * dt;
+			float rate_i = _rates_int(i) + i_factor * rates_i_scaled(i) * rates_err(i) * dt;
 
 			if (PX4_ISFINITE(rate_i) && rate_i > -_rate_int_lim(i) && rate_i < _rate_int_lim(i)) {
 				_rates_int(i) = rate_i;