diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 9ebb316b74..b95cc16b04 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -422,6 +422,9 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
                     errorRate = currentPidSetpoint - gyroRate;
                 }
             }
+            // reset ITerm, since accumulated error before crash is now meaningless
+            // and ITerm windup during crash recovery can be extreme, especially on yaw axis
+            axisPID_I[axis] = 0.0f;
             if (cmpTimeUs(currentTimeUs, crashDetectedAtUs) > crashTimeLimitUs
                 || (motorMixRange < 1.0f
                        && ABS(gyro.gyroADCf[FD_ROLL]) < crashRecoveryRate