diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 67ea799a6f..ef197e6838 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -783,7 +783,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
             const float gmax = MAX(gyroTargetHigh, gyroTargetLow);
             const float gmin = MIN(gyroTargetHigh, gyroTargetLow);
             if (gyroRate >= gmin && gyroRate <= gmax) {
-                itermErrorRate = 0.0f;
+                itermErrorRate = acCorrection;
             } else {
                 itermErrorRate = (gyroRate > gmax ? gmax : gmin ) - gyroRate;
             }