diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 178b590ae5..3cd4ce9285 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -707,14 +707,21 @@ FixedwingAttitudeControl::task_main()
 				float throttle_sp = 0.0f;
 
 				if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) {
+					/* read in attitude setpoint from attitude setpoint uorb topic */
 					roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
 					pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
 					throttle_sp = _att_sp.thrust;
 
 					/* reset integrals where needed */
-					if (_att_sp.roll_reset_integral)
+					if (_att_sp.roll_reset_integral) {
 						_roll_ctrl.reset_integrator();
-
+					}
+					if (_att_sp.pitch_reset_integral) {
+						_pitch_ctrl.reset_integrator();
+					}
+					if (_att_sp.yaw_reset_integral) {
+						_yaw_ctrl.reset_integrator();
+					}
 				} else {
 					/*
 					 * Scale down roll and pitch as the setpoints are radians