diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp
index ea509bd3bd..f059ccb805 100644
--- a/src/lib/tecs/TECS.cpp
+++ b/src/lib/tecs/TECS.cpp
@@ -329,15 +329,24 @@ void TECS::_update_throttle_setpoint(const float throttle_cruise, const matrix::
 		throttle_setpoint = constrain(throttle_setpoint, _throttle_setpoint_min, _throttle_setpoint_max);
 
 		if (_integrator_gain_throttle > 0.0f) {
-			// Calculate throttle integrator state upper and lower limits with allowance for
-			// 10% throttle saturation to accommodate noise on the demand.
-			float integ_state_max = _throttle_setpoint_max - throttle_setpoint + 0.1f;
-			float integ_state_min = _throttle_setpoint_min - throttle_setpoint - 0.1f;
 
-			// Calculate a throttle demand from the integrated total energy error
+			float integ_state_max = _throttle_setpoint_max - throttle_setpoint;
+			float integ_state_min = _throttle_setpoint_min - throttle_setpoint;
+
+			float throttle_integ_input = (_STE_rate_error * _integrator_gain_throttle) * _dt *
+						     STE_rate_to_throttle;
+
+			// only allow integrator propagation into direction which unsaturates throttle
+			if (_throttle_integ_state > integ_state_max) {
+				throttle_integ_input = math::min(0.f, throttle_integ_input);
+
+			} else if (_throttle_integ_state < integ_state_min) {
+				throttle_integ_input = math::max(0.f, throttle_integ_input);
+			}
+
+			// Calculate a throttle demand from the integrated total energy rate error
 			// This will be added to the total throttle demand to compensate for steady state errors
-			_throttle_integ_state = _throttle_integ_state + (_STE_rate_error * _integrator_gain_throttle) * _dt *
-						STE_rate_to_throttle;
+			_throttle_integ_state = _throttle_integ_state + throttle_integ_input;
 
 			if (_climbout_mode_active) {
 				// During climbout, set the integrator to maximum throttle to prevent transient throttle drop