diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 7142c9770..5669df9d5 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -235,6 +235,9 @@ static void stabilizationTask(void* parameters)
 			{
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
 					rateDesiredAxis[i] = attitudeDesiredAxis[i];
+
+					// Zero attitude and axis lock accumulators
+					pids[PID_ROLL + i] = 0;
 					axis_lock_accum[i] = 0;
 					break;
 
@@ -249,11 +252,20 @@ static void stabilizationTask(void* parameters)
 
 					rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
 
+					// Zero attitude and axis lock accumulators
+					pids[PID_ROLL + i] = 0;
 					axis_lock_accum[i] = 0;
 					break;
 				}
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
 					rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
+					
+					if(rateDesiredAxis[i] > settings.MaximumRate[i])
+						rateDesiredAxis[i] = settings.MaximumRate[i];
+					else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
+						rateDesiredAxis[i] = -settings.MaximumRate[i];
+					
+					
 					axis_lock_accum[i] = 0;
 					break;
 
@@ -272,6 +284,12 @@ static void stabilizationTask(void* parameters)
 
 						rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]);
 					}
+					
+					if(rateDesiredAxis[i] > settings.MaximumRate[i])
+						rateDesiredAxis[i] = settings.MaximumRate[i];
+					else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
+						rateDesiredAxis[i] = -settings.MaximumRate[i];
+
 					break;
 			}
 		}
@@ -284,11 +302,6 @@ static void stabilizationTask(void* parameters)
 		//Calculate desired command
 		for(int8_t ct=0; ct< MAX_AXES; ct++)
 		{
-			if(rateDesiredAxis[ct] > settings.MaximumRate[ct])
-				rateDesiredAxis[ct] = settings.MaximumRate[ct];
-			else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
-				rateDesiredAxis[ct] = -settings.MaximumRate[ct];
-
 			switch(stabDesired.StabilizationMode[ct])
 			{
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
@@ -306,14 +319,20 @@ static void stabilizationTask(void* parameters)
 					case ROLL:
 						actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
 						shouldUpdate = 1;
+						pids[PID_RATE_ROLL].iAccumulator = 0;
+						pids[PID_ROLL].iAccumulator = 0;
 						break;
 					case PITCH:
 						actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
 						shouldUpdate = 1;
+						pids[PID_RATE_PITCH].iAccumulator = 0;
+						pids[PID_PITCH].iAccumulator = 0;
 						break;
 					case YAW:
 						actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
 						shouldUpdate = 1;
+						pids[PID_RATE_YAW].iAccumulator = 0;
+						pids[PID_YAW].iAccumulator = 0;
 						break;
 				}
 					break;