diff --git a/src/flight/pid.c b/src/flight/pid.c
index 32486525b..e98ffd3f3 100644
--- a/src/flight/pid.c
+++ b/src/flight/pid.c
@@ -181,8 +181,8 @@ static inline void pid(uint8_t x) {
   state.pid_p_term.axis[x] *= v_compensation;
 
   // I term
-  if (flags.on_ground || flags.in_air == 0) {
-    // wind down integral while we are still on ground
+  if (flags.in_air == 0 && fabsf(state.error.axis[x]) < 0.05f) {
+    // wind down integral while we are still on ground and we do not get any input from the sticks
     ierror[x] *= 0.98f;
   }