diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index 5f0c60a46f..6821df6a70 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -911,7 +911,7 @@ void AP_TECS::_update_pitch(void)
 void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)
 {
     // Initialise states and variables if DT > 1 second or in climbout
-    if (_DT > 1.0f)
+    if (_DT > 1.0f || _need_reset)
     {
         _integTHR_state      = 0.0f;
         _integSEB_state      = 0.0f;
@@ -927,6 +927,7 @@ void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)
         _flags.reached_speed_takeoff = false;
         _DT                = 0.1f; // when first starting TECS, use a
         // small time constant
+        _need_reset = false;
     }
     else if (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND)
     {
diff --git a/libraries/AP_TECS/AP_TECS.h b/libraries/AP_TECS/AP_TECS.h
index 2f91f33656..29803886fc 100644
--- a/libraries/AP_TECS/AP_TECS.h
+++ b/libraries/AP_TECS/AP_TECS.h
@@ -116,7 +116,12 @@ public:
     void use_synthetic_airspeed(void) {
         _use_synthetic_airspeed_once = true;
     }
-    
+
+    // reset on next loop
+    void reset(void) override {
+        _need_reset = true;
+    }
+
     // this supports the TECS_* user settable parameters
     static const struct AP_Param::GroupInfo var_info[];
 
@@ -320,6 +325,9 @@ private:
 
     float _land_pitch_min = -90;
 
+    // need to reset on next loop
+    bool _need_reset;
+
     // internal variables to be logged
     struct {
         float SKE_weighting;