diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 3112ccdae..b28fb8613 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -421,7 +421,7 @@ void processRx(timeUs_t currentTimeUs)
     /* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
      This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
     if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
-        pidResetErrorGyroState();
+        pidResetITerm();
         if (currentPidProfile->pidAtMinThrottle)
             pidStabilisationState(PID_STABILISATION_ON);
         else
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index a80fca4c1..bb5dfcd28 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -545,6 +545,10 @@ void calculateThrottleAndCurrentMotorEndpoints(void)
                 motorOutputMin = deadbandMotor3dLow;
                 motorOutputRange = motorOutputLow - deadbandMotor3dLow;
             }
+            if (motorOutputMixSign != -1) {
+                // reset ITerm on motor reversal
+                pidResetITerm();
+            }
             motorOutputMixSign = -1;
             rcThrottlePrevious = rcCommand[THROTTLE];
             throttle = rcCommand3dDeadBandLow - rcCommand[THROTTLE];
@@ -555,6 +559,10 @@ void calculateThrottleAndCurrentMotorEndpoints(void)
             motorRangeMax = motorOutputHigh;
             motorOutputMin = deadbandMotor3dHigh;
             motorOutputRange = motorOutputHigh - deadbandMotor3dHigh;
+            if (motorOutputMixSign != 1) {
+                // reset ITerm on motor reversal
+                pidResetITerm();
+            }
             motorOutputMixSign = 1;
             rcThrottlePrevious = rcCommand[THROTTLE];
             throttle = rcCommand[THROTTLE] - rcCommand3dDeadBandHigh;
@@ -572,6 +580,10 @@ void calculateThrottleAndCurrentMotorEndpoints(void)
                 motorOutputMin = deadbandMotor3dLow;
                 motorOutputRange = motorOutputLow - deadbandMotor3dLow;
             }
+            if (motorOutputMixSign != -1) {
+                // reset ITerm on motor reversal
+                pidResetITerm();
+            }
             motorOutputMixSign = -1;
             throttle = 0;
             currentThrottleInputRange = rcCommandThrottleRange3dLow;
@@ -581,6 +593,10 @@ void calculateThrottleAndCurrentMotorEndpoints(void)
             motorRangeMax = motorOutputHigh;
             motorOutputMin = deadbandMotor3dHigh;
             motorOutputRange = motorOutputHigh - deadbandMotor3dHigh;
+            if (motorOutputMixSign != 1) {
+                // reset ITerm on motor reversal
+                pidResetITerm();
+            }
             motorOutputMixSign = 1;
             throttle = 0;
             currentThrottleInputRange = rcCommandThrottleRange3dHigh;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 64c91b2e3..26761a6be 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -136,7 +136,7 @@ static void pidSetTargetLooptime(uint32_t pidLooptime)
     dT = (float)targetPidLooptime * 0.000001f;
 }
 
-void pidResetErrorGyroState(void)
+void pidResetITerm(void)
 {
     for (int axis = 0; axis < 3; axis++) {
         axisPID_I[axis] = 0.0f;
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 9cb1f58d8..ba6f99415 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -127,7 +127,7 @@ extern uint32_t targetPidLooptime;
 // PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
 extern uint8_t PIDweight[3];
 
-void pidResetErrorGyroState(void);
+void pidResetITerm(void);
 void pidStabilisationState(pidStabilisationState_e pidControllerState);
 void pidSetItermAccelerator(float newItermAccelerator);
 void pidInitFilters(const pidProfile_t *pidProfile);
diff --git a/src/test/unit/arming_prevention_unittest.cc b/src/test/unit/arming_prevention_unittest.cc
index 0f5e2d3f0..49cb53885 100644
--- a/src/test/unit/arming_prevention_unittest.cc
+++ b/src/test/unit/arming_prevention_unittest.cc
@@ -642,7 +642,7 @@ extern "C" {
     void failsafeStartMonitoring(void) {}
     void failsafeUpdateState(void) {}
     bool failsafeIsActive(void) { return false; }
-    void pidResetErrorGyroState(void) {}
+    void pidResetITerm(void) {}
     void updateAdjustmentStates(void) {}
     void processRcAdjustments(controlRateConfig_t *) {}
     void updateGpsWaypointsAndMode(void) {}