diff --git a/ArduCopter/heli_control_stabilize.pde b/ArduCopter/heli_control_stabilize.pde
index 7b66405c72..e5d5f178f4 100644
--- a/ArduCopter/heli_control_stabilize.pde
+++ b/ArduCopter/heli_control_stabilize.pde
@@ -7,6 +7,9 @@
 // stabilize_init - initialise stabilize controller
 static bool heli_stabilize_init(bool ignore_checks)
 {
+    // initialise filters on roll/pitch input
+    reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
+
     // set target altitude to zero for reporting
     // To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error?
     pos_control.set_alt_target(0);